sdurwsim module

class sdurwsim.AssemblySimulator(dwc, engineID, contactDetector=0)

Bases: object

__init__(dwc, engineID, contactDetector=0)

Initialize self. See help(type(self)) for accurate signature.

getMaxSimTime()
getResults()
isRunning()
setMaxSimTime(maxTime)
setStoreExecutionData(enable)
setTasks(tasks)
start(task=0)
stopCancelCurrent()
stopFinishCurrent()
storeExecutionData()
property thisown

The membership flag

class sdurwsim.AssemblySimulatorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getMaxSimTime()
getResults()
isNull()
isRunning()
isShared()
setMaxSimTime(maxTime)
setStoreExecutionData(enable)
setTasks(tasks)
start(task=0)
stopCancelCurrent()
stopFinishCurrent()
storeExecutionData()
property thisown

The membership flag

class sdurwsim.Body(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

addForce(force, state)
addForceToPos(force, pos, state)
addForceW(force, state)
addForceWToPosW(force, pos, state)
addTorque(t, state)
addTorqueW(t, state)
calcEnergy(state)
getBodyFrame()
getForce(state)
getForceW(state)
getFrames()
getInertia()
getInfo(*args)
getMaterialID()
getName()
getParentFrame(state)
getPointVelW(p, state)
getTorque(state)
getTorqueW(state)
getTransformW(state)
pTbf(state)
pTcom(state)
place(*args)
reset(state)
setForce(f, state)
setForceW(f, state)
setMass(*args)
setTorque(t, state)
setTorqueW(t, state)
property thisown

The membership flag

wTbf(state)
wTcom(state)
class sdurwsim.BodyController(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property thisown

The membership flag

class sdurwsim.BodyControllerPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
isNull()
isShared()
property thisown

The membership flag

class sdurwsim.BodyInfo

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

property inertia
property integratorType
property mass
property masscenter
property material
property objectType
property thisown

The membership flag

class sdurwsim.BodyPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addForce(force, state)
addForceToPos(force, pos, state)
addForceW(force, state)
addForceWToPosW(force, pos, state)
addTorque(t, state)
addTorqueW(t, state)
calcEnergy(state)
get()
getBodyFrame()
getForce(state)
getForceW(state)
getFrames()
getInertia()
getInfo(*args)
getMaterialID()
getName()
getParentFrame(state)
getPointVelW(p, state)
getTorque(state)
getTorqueW(state)
getTransformW(state)
isNull()
isShared()
pTbf(state)
pTcom(state)
place(*args)
reset(state)
setForce(f, state)
setForceW(f, state)
setMass(*args)
setTorque(t, state)
setTorqueW(t, state)
property thisown

The membership flag

wTbf(state)
wTcom(state)
class sdurwsim.BodyPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
property thisown

The membership flag

class sdurwsim.Constraint(name, type, b1, b2)

Bases: object

Fixed = 0
Free = 8
Piston = 5
Prismatic = 1
PrismaticRotoid = 6
PrismaticUniversal = 7
Revolute = 2
Spherical = 4
Universal = 3
__init__(name, type, b1, b2)

Initialize self. See help(type(self)) for accurate signature.

getBody1()
getBody2()
getDOF()
getDOFAngular()
getDOFLinear()
getSpringParams()
getTransform()
getType()
setSpringParams(params)
setTransform(parentTconstraint)
property thisown

The membership flag

class sdurwsim.ConstraintPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getBody1()
getBody2()
getDOF()
getDOFAngular()
getDOFLinear()
getSpringParams()
getTransform()
getType()
isNull()
isShared()
setSpringParams(params)
setTransform(parentTconstraint)
property thisown

The membership flag

class sdurwsim.ConstraintPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
property thisown

The membership flag

class sdurwsim.Contact

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

aTb()
getDepth()
getFrameA()
getFrameB()
getNormal()
getPointA()
getPointB()
setDepth(*args)
setFrameA(frame)
setFrameB(frame)
setNormal(normal)
setPointA(pointA)
setPointB(pointB)
setPoints(pointA, pointB)
setTransform(aTb)
property thisown

The membership flag

class sdurwsim.ContactDetector(workcell)

Bases: object

__init__(workcell)

Initialize self. See help(type(self)) for accurate signature.

addContactStrategy(strategy, priority=0)
clearStrategies()
findContacts(*args)
getTimer()
printStrategyTable()
removeContactStrategy(priority=0)
setDefaultStrategies(*args)
setTimer(value=0)
property thisown

The membership flag

updateContacts(state, data, tracking)
class sdurwsim.ContactDetectorData(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

clear()
property thisown

The membership flag

class sdurwsim.ContactDetectorDataPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

clear()
get()
isNull()
isShared()
property thisown

The membership flag

class sdurwsim.ContactDetectorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addContactStrategy(strategy, priority=0)
clearStrategies()
findContacts(*args)
get()
getTimer()
isNull()
isShared()
printStrategyTable()
removeContactStrategy(priority=0)
setDefaultStrategies(*args)
setTimer(value=0)
property thisown

The membership flag

updateContacts(state, data, tracking)
class sdurwsim.ContactDetectorTracking(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

clear()
getSize()
remove(index)
property thisown

The membership flag

class sdurwsim.ContactDetectorTrackingPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

clear()
get()
getSize()
isNull()
isShared()
remove(index)
property thisown

The membership flag

class sdurwsim.ContactStrategy(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

clear()
getName()
getPropertyMap(*args)
match(geoA, geoB)
setPropertyMap(map)
property thisown

The membership flag

class sdurwsim.ContactStrategyPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

clear()
get()
getName()
getPropertyMap(*args)
isNull()
isShared()
match(geoA, geoB)
setPropertyMap(map)
property thisown

The membership flag

class sdurwsim.ContactVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
property thisown

The membership flag

class sdurwsim.DynamicDevice(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getBase()
getJointVelocities(state)
getKinematicModel()
getQ(state)
getVelocity(state)
setJointVelocities(vel, state)
setQ(q, state)
setVelocity(vel, state)
property thisown

The membership flag

class sdurwsim.DynamicDevicePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getBase()
getJointVelocities(state)
getKinematicModel()
getQ(state)
getVelocity(state)
isNull()
isShared()
setJointVelocities(vel, state)
setQ(q, state)
setVelocity(vel, state)
property thisown

The membership flag

class sdurwsim.DynamicDevicePtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
property thisown

The membership flag

class sdurwsim.DynamicSimulator(*args)

Bases: sdurw_simulation.Simulator

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addBody(body, state)
addController(controller)
addDevice(dev, state)
addSensor(sensor, state)
attach(b1, b2)
detach(b1, b2)
disableBodyControl(*args)
exitPhysics()
getBodyController()
getPropertyMap()
getSensors()
getState()
getTime()
init(state)
static make(dworkcell, pengine)
removeController(controller)
removeSensor(sensor)
reset(state)
setDynamicsEnabled(body, enabled)
setEnabled(*args)
setTarget(*args)
step(dt)
property thisown

The membership flag

class sdurwsim.DynamicSimulatorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addBody(body, state)
addController(controller)
addDevice(dev, state)
addSensor(sensor, state)
attach(b1, b2)
detach(b1, b2)
disableBodyControl(*args)
exitPhysics()
get()
getBodyController()
getPropertyMap()
getSensors()
getState()
getTime()
init(state)
isNull()
isShared()
make(dworkcell, pengine)
removeController(controller)
removeSensor(sensor)
reset(state)
setDynamicsEnabled(body, enabled)
setEnabled(*args)
setTarget(*args)
step(dt)
property thisown

The membership flag

toSimulator()
toSimulator1()
toSimulator2()
sdurwsim.DynamicSimulator_make(dworkcell, pengine)
class sdurwsim.DynamicWorkCell(workcell, bodies, allbodies, constraints, devices, controllers)

Bases: object

__init__(workcell, bodies, allbodies, constraints, devices, controllers)

Initialize self. See help(type(self)) for accurate signature.

addBody(body)
addConstraint(constraint)
addController(manipulator)
findBody(name)
findConstraint(name)
findController(name)
findDevice(name)
findFTSensor(name)
findFixedBody(name)
findKinematicBody(name)
findPDController(name)
findRigidBody(name)
findRigidDevice(name)
findSensor(name)
findSerialDeviceController(name)
findSuctionCup(name)
getBodies()
getBody(*args)
getCollisionMargin()
getConstraints()
getEngineSettings()
getGravity()
getWorkcell()
inDevice(body)
setCollisionMargin(margin)
setGravity(*args)
property thisown

The membership flag

class sdurwsim.DynamicWorkCellLoader

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

static load(filename)
property thisown

The membership flag

sdurwsim.DynamicWorkCellLoader_load(filename)
class sdurwsim.DynamicWorkCellPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addBody(body)
addConstraint(constraint)
addController(manipulator)
findBody(name)
findConstraint(name)
findController(name)
findDevice(name)
findFTSensor(name)
findFixedBody(name)
findKinematicBody(name)
findPDController(name)
findRigidBody(name)
findRigidDevice(name)
findSensor(name)
findSerialDeviceController(name)
findSuctionCup(name)
get()
getBodies()
getBody(*args)
getCollisionMargin()
getConstraints()
getEngineSettings()
getGravity()
getWorkcell()
inDevice(body)
isNull()
isShared()
setCollisionMargin(margin)
setGravity(*args)
property thisown

The membership flag

class sdurwsim.FixedBody(*args, **kwargs)

Bases: sdurwsim.Body

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property thisown

The membership flag

class sdurwsim.FixedBodyPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addForce(force, state)
addForceToPos(force, pos, state)
addForceW(force, state)
addForceWToPosW(force, pos, state)
addTorque(t, state)
addTorqueW(t, state)
calcEnergy(state)
get()
getBodyFrame()
getForce(state)
getForceW(state)
getFrames()
getInertia()
getInfo(*args)
getMaterialID()
getName()
getParentFrame(state)
getPointVelW(p, state)
getTorque(state)
getTorqueW(state)
getTransformW(state)
isNull()
isShared()
pTbf(state)
pTcom(state)
place(*args)
reset(state)
setForce(f, state)
setForceW(f, state)
setMass(*args)
setTorque(t, state)
setTorqueW(t, state)
property thisown

The membership flag

wTbf(state)
wTcom(state)
class sdurwsim.FixedBodyPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
property thisown

The membership flag

class sdurwsim.GraspTaskSimulator(dwc, nrThreads=1)

Bases: object

__init__(dwc, nrThreads=1)

Initialize self. See help(type(self)) for accurate signature.

getNrTargets()
getNrTargetsDone()
getResult()
getSimulator()
getSimulators()
getStat(*args)
getStatDescription()
getTasks()
init(dwc, initState)
isFinished()
isRunning()
load(*args)
pauseSimulation()
resumeSimulation()
setAlwaysResting(alwaysResting)
setSimTimeLimit(limit)
setStepDelay(delay)
setWallTimeLimit(limit)
startSimulation(initState)
property thisown

The membership flag

class sdurwsim.GraspTaskSimulatorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getNrTargets()
getNrTargetsDone()
getResult()
getSimulator()
getSimulators()
getStat(*args)
getStatDescription()
getTasks()
init(dwc, initState)
isFinished()
isNull()
isRunning()
isShared()
load(*args)
pauseSimulation()
resumeSimulation()
setAlwaysResting(alwaysResting)
setSimTimeLimit(limit)
setStepDelay(delay)
setWallTimeLimit(limit)
startSimulation(initState)
property thisown

The membership flag

class sdurwsim.KinematicBody(*args, **kwargs)

Bases: sdurwsim.Body

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

property thisown

The membership flag

class sdurwsim.KinematicBodyPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addForce(force, state)
addForceToPos(force, pos, state)
addForceW(force, state)
addForceWToPosW(force, pos, state)
addTorque(t, state)
addTorqueW(t, state)
calcEnergy(state)
get()
getBodyFrame()
getForce(state)
getForceW(state)
getFrames()
getInertia()
getInfo(*args)
getMaterialID()
getName()
getParentFrame(state)
getPointVelW(p, state)
getTorque(state)
getTorqueW(state)
getTransformW(state)
isNull()
isShared()
pTbf(state)
pTcom(state)
place(*args)
reset(state)
setForce(f, state)
setForceW(f, state)
setMass(*args)
setTorque(t, state)
setTorqueW(t, state)
property thisown

The membership flag

wTbf(state)
wTcom(state)
class sdurwsim.KinematicBodyPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
property thisown

The membership flag

class sdurwsim.ODESimulator(dwc, detector=0)

Bases: sdurwsim.PhysicsEngine

WorldFast1 = 2
WorldQuickStep = 1
WorldStep = 0
__init__(dwc, detector=0)

Initialize self. See help(type(self)) for accurate signature.

addBody(body, state)
addController(controller)
addDevice(dev, state)
addEmulatedContact(pos, force, normal, b)
addSensor(sensor, state)
attach(b1, b2)
detach(b1, b2)
disableCollision(b1, b2)
emitPropertyChanged()
enableCollision(b1, b2)
exitPhysics()
getContactCnt()
getDynamicWorkCell()
getGravity()
getMaxSeperatingDistance()
getPropertyMap()
getSensors()
getTime()
initPhysics(state)
isInitialized()
load(dwc)
removeController(controller)
removeSensor(sensor)
resetScene(state)
setContactDetector(detector)
setContactLoggingEnabled(enable)
setDynamicsEnabled(body, enabled)
setEnabled(body, enabled)
setStepMethod(method)
step(dt, state)
property thisown

The membership flag

class sdurwsim.ODESimulatorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addBody(body, state)
addController(controller)
addDevice(dev, state)
addEmulatedContact(pos, force, normal, b)
addSensor(sensor, state)
attach(b1, b2)
detach(b1, b2)
disableCollision(b1, b2)
emitPropertyChanged()
enableCollision(b1, b2)
exitPhysics()
get()
getContactCnt()
getDynamicWorkCell()
getGravity()
getMaxSeperatingDistance()
getPropertyMap()
getSensors()
getTime()
initPhysics(state)
isInitialized()
isNull()
isShared()
load(dwc)
removeController(controller)
removeSensor(sensor)
resetScene(state)
setContactDetector(detector)
setContactLoggingEnabled(enable)
setDynamicsEnabled(body, enabled)
setEnabled(body, enabled)
setStepMethod(method)
step(dt, state)
property thisown

The membership flag

class sdurwsim.PDController(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

getControlModes()
getController()
getControllerName()
getParameters()
getQ()
getQd()
getSampleTime()
isEnabled()
reset(state)
setControlMode(mode)
setEnabled(enabled)
setParameters(params)
setSampleTime(stime)
setTargetAcc(vals)
setTargetPos(target)
setTargetVel(vals)
property thisown

The membership flag

update(info, state)
class sdurwsim.PDControllerPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getControlModes()
getController()
getControllerName()
getParameters()
getQ()
getQd()
getSampleTime()
isEnabled()
isNull()
isShared()
reset(state)
setControlMode(mode)
setEnabled(enabled)
setParameters(params)
setSampleTime(stime)
setTargetAcc(vals)
setTargetPos(target)
setTargetVel(vals)
property thisown

The membership flag

update(info, state)
class sdurwsim.PDParam(*args)

Bases: object

property D
property P
__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

property thisown

The membership flag

class sdurwsim.PDParamVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
property thisown

The membership flag

class sdurwsim.PhysicsEngine(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

addBody(body, state)
addController(controller)
addDevice(dev, state)
addSensor(sensor, state)
attach(b1, b2)
detach(b1, b2)
emitPropertyChanged()
exitPhysics()
getPropertyMap()
getSensors()
getTime()
initPhysics(state)
load(dwc)
removeController(controller)
removeSensor(sensor)
resetScene(state)
setContactDetector(detector)
setDynamicsEnabled(body, enabled)
setEnabled(body, enabled)
step(dt, state)
property thisown

The membership flag

class sdurwsim.PhysicsEngineFactory(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

static getEngineIDs()
static hasEngineID(engineID)
static makePhysicsEngine(*args)
property thisown

The membership flag

sdurwsim.PhysicsEngineFactory_getEngineIDs()
sdurwsim.PhysicsEngineFactory_hasEngineID(engineID)
sdurwsim.PhysicsEngineFactory_makePhysicsEngine(*args)
class sdurwsim.PhysicsEnginePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addBody(body, state)
addController(controller)
addDevice(dev, state)
addSensor(sensor, state)
attach(b1, b2)
detach(b1, b2)
emitPropertyChanged()
exitPhysics()
get()
getPropertyMap()
getSensors()
getTime()
initPhysics(state)
isNull()
isShared()
load(dwc)
removeController(controller)
removeSensor(sensor)
resetScene(state)
setContactDetector(detector)
setDynamicsEnabled(body, enabled)
setEnabled(body, enabled)
step(dt, state)
property thisown

The membership flag

class sdurwsim.PoseController(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getControllerName()
getSampleTime()
isEnabled()
setEnabled(enabled)
setSampleTime(stime)
setTarget(*args)
property thisown

The membership flag

class sdurwsim.RigidBody(*args, **kwargs)

Bases: sdurwsim.Body

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

calcEffectiveMass(wPc, state)
calcEffectiveMassW(wPc, state)
calcInertiaTensor(state)
calcInertiaTensorInv(state)
getAngVel(state)
getAngVelW(state)
getBodyInertia()
getBodyInertiaInv()
getLinVel(state)
getLinVelW(state)
getMass()
getMovableFrame()
getPTBody(state)
getParent(state)
getPointVel(p, state)
getWTBody(state)
getWTParent(state)
setAngVel(avel, state)
setAngVelW(avel, state)
setLinVel(lvel, state)
setLinVelW(lvel, state)
setPTBody(pTb, state)
property thisown

The membership flag

class sdurwsim.RigidBodyPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addForce(force, state)
addForceToPos(force, pos, state)
addForceW(force, state)
addForceWToPosW(force, pos, state)
addTorque(t, state)
addTorqueW(t, state)
calcEffectiveMass(wPc, state)
calcEffectiveMassW(wPc, state)
calcEnergy(state)
calcInertiaTensor(state)
calcInertiaTensorInv(state)
get()
getAngVel(state)
getAngVelW(state)
getBodyFrame()
getBodyInertia()
getBodyInertiaInv()
getForce(state)
getForceW(state)
getFrames()
getInertia()
getInfo(*args)
getLinVel(state)
getLinVelW(state)
getMass()
getMaterialID()
getMovableFrame()
getName()
getPTBody(state)
getParent(state)
getParentFrame(state)
getPointVel(p, state)
getPointVelW(p, state)
getTorque(state)
getTorqueW(state)
getTransformW(state)
getWTBody(state)
getWTParent(state)
isNull()
isShared()
pTbf(state)
pTcom(state)
place(*args)
reset(state)
setAngVel(avel, state)
setAngVelW(avel, state)
setForce(f, state)
setForceW(f, state)
setLinVel(lvel, state)
setLinVelW(lvel, state)
setMass(*args)
setPTBody(pTb, state)
setTorque(t, state)
setTorqueW(t, state)
property thisown

The membership flag

wTbf(state)
wTcom(state)
class sdurwsim.RigidBodyPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
property thisown

The membership flag

class sdurwsim.RigidDevice(*args, **kwargs)

Bases: sdurwsim.DynamicDevice

Force = 0
Velocity = 1
__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getJointDevice()
getJointVelocities(state)
getJointVelocity(i, state)
getMotorForceLimits()
getMotorMode(i, state)
getMotorTarget(i, state)
getMotorTargets(state)
setJointVelocities(q, state)
setJointVelocity(vel, i, state)
setMotorForceLimits(force)
setMotorForceTarget(force, i, state)
setMotorForceTargets(force, state)
setMotorTarget(q, i, state)
setMotorTargets(q, state)
setMotorVelocityTarget(vel, i, state)
setMotorVelocityTargets(vel, state)
property thisown

The membership flag

class sdurwsim.RigidDevicePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getBase()
getJointDevice()
getJointVelocities(state)
getJointVelocity(i, state)
getKinematicModel()
getMotorForceLimits()
getMotorMode(i, state)
getMotorTarget(i, state)
getMotorTargets(state)
getQ(state)
getVelocity(state)
isNull()
isShared()
setJointVelocities(q, state)
setJointVelocity(vel, i, state)
setMotorForceLimits(force)
setMotorForceTarget(force, i, state)
setMotorForceTargets(force, state)
setMotorTarget(q, i, state)
setMotorTargets(q, state)
setMotorVelocityTarget(vel, i, state)
setMotorVelocityTargets(vel, state)
setQ(q, state)
setVelocity(vel, state)
property thisown

The membership flag

class sdurwsim.RigidDevicePtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
property thisown

The membership flag

class sdurwsim.SerialDeviceController(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getControllerName()
getQ()
getQd()
isEnabled()
isMoving()
moveLin(target, speed=100, blend=0)
movePTP(target, speed=100, blend=0)
movePTP_T(target, speed=100, blend=0)
moveVelQ(target_joint_velocity)
moveVelT(vel)
pause()
reset(state)
setEnabled(enabled)
setSafeModeEnabled(enable)
stop()
property thisown

The membership flag

class sdurwsim.SerialDeviceControllerPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getControllerName()
getQ()
getQd()
isEnabled()
isMoving()
isNull()
isShared()
moveLin(target, speed=100, blend=0)
movePTP(target, speed=100, blend=0)
movePTP_T(target, speed=100, blend=0)
moveVelQ(target_joint_velocity)
moveVelT(vel)
pause()
reset(state)
setEnabled(enabled)
setSafeModeEnabled(enable)
stop()
property thisown

The membership flag

class sdurwsim.SimulatedFTSensor(name, body, body1, frame=None)

Bases: object

__init__(name, body, body1, frame=None)

Initialize self. See help(type(self)) for accurate signature.

acquire()
addForce(point, force, cnormal, state, body=0)
addForceW(point, force, cnormal, state, body=0)
addWrenchToCOM(force, torque, state, body=0)
addWrenchWToCOM(force, torque, state, body=0)
getBody1()
getBody2()
getForce(state)
getSensorFrame()
getTorque(state)
getTransform()
reset(state)
property thisown

The membership flag

update(info, state)
class sdurwsim.SimulatedFTSensorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

acquire()
addForce(point, force, cnormal, state, body=0)
addForceW(point, force, cnormal, state, body=0)
addWrenchToCOM(force, torque, state, body=0)
addWrenchWToCOM(force, torque, state, body=0)
get()
getBody1()
getBody2()
getForce(state)
getSensorFrame()
getTorque(state)
getTransform()
isNull()
isShared()
reset(state)
property thisown

The membership flag

update(info, state)
class sdurwsim.SpringParams

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

property compliance
property damping
property enabled
property thisown

The membership flag

class sdurwsim.SuctionCup(*args, **kwargs)

Bases: sdurwsim.DynamicDevice

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

addForceTorque(forceTorque, state)
getBaseBody()
getContactBody(state)
getEndBody()
getHeight()
getJointVelocities(state)
getOffset()
getPressure(state)
getRadius()
getSpringParamsClosed()
getSpringParamsOpen()
isClosed(state)
setClosed(closed, state)
setContactBody(b, state)
setJointVelocities(vel, state)
setPressure(pressure, state)
property thisown

The membership flag

class sdurwsim.SuctionCupPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addForceTorque(forceTorque, state)
get()
getBase()
getBaseBody()
getContactBody(state)
getEndBody()
getHeight()
getJointVelocities(state)
getKinematicModel()
getOffset()
getPressure(state)
getQ(state)
getRadius()
getSpringParamsClosed()
getSpringParamsOpen()
getVelocity(state)
isClosed(state)
isNull()
isShared()
setClosed(closed, state)
setContactBody(b, state)
setJointVelocities(vel, state)
setPressure(pressure, state)
setQ(q, state)
setVelocity(vel, state)
property thisown

The membership flag

class sdurwsim.SwigPyIterator(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

advance(n)
copy()
decr(n=1)
distance(x)
equal(x)
incr(n=1)
next()
previous()
property thisown

The membership flag

value()
class sdurwsim.ThreadSimulator(simulator, state)

Bases: object

__init__(simulator, state)

Initialize self. See help(type(self)) for accurate signature.

getSimulator()
getState()
getTime()
isInError()
isRunning()
postStop()
reset(state)
setInError(inError)
setRealTimeScale(scale)
setState(state)
setStepCallBack(cb)
setTimeStep(dt)
start()
step()
stop()
property thisown

The membership flag

class sdurwsim.ThreadSimulatorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getSimulator()
getState()
getTime()
isInError()
isNull()
isRunning()
isShared()
postStop()
reset(state)
setInError(inError)
setRealTimeScale(scale)
setState(state)
setStepCallBack(cb)
setTimeStep(dt)
start()
step()
stop()
property thisown

The membership flag

class sdurwsim.ThreadSimulatorPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
property thisown

The membership flag

class sdurwsim.ThreadSimulatorStepCallback(cb)

Bases: object

__init__(cb)

Initialize self. See help(type(self)) for accurate signature.

property thisown

The membership flag

sdurwsim.addSimulatorInstance(sim, id)
sdurwsim.getDynamicWorkCell()
sdurwsim.getSimulatorInstance(*args)
sdurwsim.getSimulatorInstances()
sdurwsim.removeSimulatorInstance(id)
sdurwsim.setDynamicWorkCell(dwc)