diff --git a/docs/Doxyfile b/docs/Doxyfile index f182ce8..a03415a 100644 --- a/docs/Doxyfile +++ b/docs/Doxyfile @@ -38,7 +38,7 @@ PROJECT_NAME = "qiBullet" # could be handy for archiving the generated documentation or if some version # control system is used. -PROJECT_NUMBER = 1.4.1 +PROJECT_NUMBER = 1.4.2 # Using the PROJECT_BRIEF tag one can provide an optional one line description # for a project that appears at the top of each page and should give viewer a diff --git a/docs/api/annotated.html b/docs/api/annotated.html index dc1956e..8dc59fd 100644 --- a/docs/api/annotated.html +++ b/docs/api/annotated.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classes.html b/docs/api/classes.html index 751fdba..974fb7e 100644 --- a/docs/api/classes.html +++ b/docs/api/classes.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1base__controller_1_1BaseController-members.html b/docs/api/classqibullet_1_1base__controller_1_1BaseController-members.html index ce6084f..7e9df6f 100644 --- a/docs/api/classqibullet_1_1base__controller_1_1BaseController-members.html +++ b/docs/api/classqibullet_1_1base__controller_1_1BaseController-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1base__controller_1_1BaseController.html b/docs/api/classqibullet_1_1base__controller_1_1BaseController.html index f0f1fc8..2b7a6a5 100644 --- a/docs/api/classqibullet_1_1base__controller_1_1BaseController.html +++ b/docs/api/classqibullet_1_1base__controller_1_1BaseController.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController-members.html b/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController-members.html index f5db84a..11e78e4 100644 --- a/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController-members.html +++ b/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -129,6 +129,7 @@ pose_init (defined in qibullet.base_controller.BaseController)qibullet.base_controller.BaseController robot_model (defined in qibullet.robot_module.RobotModule)qibullet.robot_module.RobotModule setLinearVelocity(self, linear_velocity)qibullet.base_controller.PepperBaseController + stopMove(self)qibullet.base_controller.PepperBaseController
diff --git a/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController.html b/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController.html index 9c02ada..7cb83d4 100644 --- a/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController.html +++ b/docs/api/classqibullet_1_1base__controller_1_1PepperBaseController.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -127,6 +127,8 @@   def move (self, x, y, theta)   +def stopMove (self) +  - Public Member Functions inherited from qibullet.base_controller.BaseController def __init__ (self, robot_model, physicsClientId=0)   @@ -442,6 +444,25 @@

Member Function Documentation

+ +
+
+ + + + + + + + +
def qibullet.base_controller.PepperBaseController.stopMove ( self)
+
+
If an aynchronous moveTo has been launched, calling this method will
+stop the asynchronous process. Calling this method is equivalent to
+calling moveTo(0.0, 0.0, 0.0, BaseController.FRAME_ROBOT, _async=True)
+
+
+
diff --git a/docs/api/classqibullet_1_1camera_1_1Camera-members.html b/docs/api/classqibullet_1_1camera_1_1Camera-members.html index 4cb8b50..0820384 100644 --- a/docs/api/classqibullet_1_1camera_1_1Camera-members.html +++ b/docs/api/classqibullet_1_1camera_1_1Camera-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1camera_1_1Camera.html b/docs/api/classqibullet_1_1camera_1_1Camera.html index 21cf105..e621997 100644 --- a/docs/api/classqibullet_1_1camera_1_1Camera.html +++ b/docs/api/classqibullet_1_1camera_1_1Camera.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1camera_1_1CameraDepth-members.html b/docs/api/classqibullet_1_1camera_1_1CameraDepth-members.html index 272f823..360ba3f 100644 --- a/docs/api/classqibullet_1_1camera_1_1CameraDepth-members.html +++ b/docs/api/classqibullet_1_1camera_1_1CameraDepth-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1camera_1_1CameraDepth.html b/docs/api/classqibullet_1_1camera_1_1CameraDepth.html index 22f5bb8..e31cf08 100644 --- a/docs/api/classqibullet_1_1camera_1_1CameraDepth.html +++ b/docs/api/classqibullet_1_1camera_1_1CameraDepth.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1camera_1_1CameraResolution-members.html b/docs/api/classqibullet_1_1camera_1_1CameraResolution-members.html index 8011d78..24f97d0 100644 --- a/docs/api/classqibullet_1_1camera_1_1CameraResolution-members.html +++ b/docs/api/classqibullet_1_1camera_1_1CameraResolution-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1camera_1_1CameraResolution.html b/docs/api/classqibullet_1_1camera_1_1CameraResolution.html index cbd5b18..4f0cd22 100644 --- a/docs/api/classqibullet_1_1camera_1_1CameraResolution.html +++ b/docs/api/classqibullet_1_1camera_1_1CameraResolution.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1camera_1_1CameraRgb-members.html b/docs/api/classqibullet_1_1camera_1_1CameraRgb-members.html index 36a14b4..4175a0c 100644 --- a/docs/api/classqibullet_1_1camera_1_1CameraRgb-members.html +++ b/docs/api/classqibullet_1_1camera_1_1CameraRgb-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1camera_1_1CameraRgb.html b/docs/api/classqibullet_1_1camera_1_1CameraRgb.html index 0266386..9abb704 100644 --- a/docs/api/classqibullet_1_1camera_1_1CameraRgb.html +++ b/docs/api/classqibullet_1_1camera_1_1CameraRgb.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1controller_1_1Controller-members.html b/docs/api/classqibullet_1_1controller_1_1Controller-members.html index 7cc2feb..4086ea4 100644 --- a/docs/api/classqibullet_1_1controller_1_1Controller-members.html +++ b/docs/api/classqibullet_1_1controller_1_1Controller-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1controller_1_1Controller.html b/docs/api/classqibullet_1_1controller_1_1Controller.html index 3e59cec..c50dab3 100644 --- a/docs/api/classqibullet_1_1controller_1_1Controller.html +++ b/docs/api/classqibullet_1_1controller_1_1Controller.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1joint_1_1Joint-members.html b/docs/api/classqibullet_1_1joint_1_1Joint-members.html index 7866868..e9d97fc 100644 --- a/docs/api/classqibullet_1_1joint_1_1Joint-members.html +++ b/docs/api/classqibullet_1_1joint_1_1Joint-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1joint_1_1Joint.html b/docs/api/classqibullet_1_1joint_1_1Joint.html index f50a914..6b1fa48 100644 --- a/docs/api/classqibullet_1_1joint_1_1Joint.html +++ b/docs/api/classqibullet_1_1joint_1_1Joint.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1laser_1_1Laser-members.html b/docs/api/classqibullet_1_1laser_1_1Laser-members.html index 416a0d3..923f336 100644 --- a/docs/api/classqibullet_1_1laser_1_1Laser-members.html +++ b/docs/api/classqibullet_1_1laser_1_1Laser-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1laser_1_1Laser.html b/docs/api/classqibullet_1_1laser_1_1Laser.html index 3d371af..2df3aac 100644 --- a/docs/api/classqibullet_1_1laser_1_1Laser.html +++ b/docs/api/classqibullet_1_1laser_1_1Laser.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1link_1_1Link-members.html b/docs/api/classqibullet_1_1link_1_1Link-members.html index 9b4c892..921d19f 100644 --- a/docs/api/classqibullet_1_1link_1_1Link-members.html +++ b/docs/api/classqibullet_1_1link_1_1Link-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1link_1_1Link.html b/docs/api/classqibullet_1_1link_1_1Link.html index 6ec592f..eac01e5 100644 --- a/docs/api/classqibullet_1_1link_1_1Link.html +++ b/docs/api/classqibullet_1_1link_1_1Link.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1nao__virtual_1_1NaoVirtual-members.html b/docs/api/classqibullet_1_1nao__virtual_1_1NaoVirtual-members.html index df0dcad..898a9b0 100644 --- a/docs/api/classqibullet_1_1nao__virtual_1_1NaoVirtual-members.html +++ b/docs/api/classqibullet_1_1nao__virtual_1_1NaoVirtual-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -108,30 +108,33 @@ getCameraFrame(self, handle)qibullet.robot_virtual.RobotVirtual getCameraLink(self, handle)qibullet.robot_virtual.RobotVirtual getCameraResolution(self, handle)qibullet.robot_virtual.RobotVirtual - getPhysicsClientId(self)qibullet.robot_virtual.RobotVirtual - getPosition(self)qibullet.robot_virtual.RobotVirtual - getRobotModel(self)qibullet.robot_virtual.RobotVirtual - goToPosture(self, posture_name, percentage_speed)qibullet.nao_virtual.NaoVirtual - ID_CAMERA_BOTTOM (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic - ID_CAMERA_TOP (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic - isSelfColliding(self, link_names)qibullet.robot_virtual.RobotVirtual - joint_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - link_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - loadRobot(self, translation, quaternion, physicsClientId=0)qibullet.nao_virtual.NaoVirtual - P_CROUCH (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic - P_LYING_BACK (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic - P_LYING_BELLY (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic - P_SIT (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic - P_SIT_RELAX (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic - P_STAND (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic - P_STAND_INIT (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic - P_STAND_ZERO (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic - physics_client (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - robot_model (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - setAngles(self, joint_names, joint_values, percentage_speed)qibullet.nao_virtual.NaoVirtual - subscribeCamera(self, camera_id, resolution=Camera.K_QVGA)qibullet.robot_virtual.RobotVirtual - unsubscribeCamera(self, handle)qibullet.robot_virtual.RobotVirtual - URDF_FILE (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic + getJoint(self, joint_name)qibullet.robot_virtual.RobotVirtual + getLink(self, link_name)qibullet.robot_virtual.RobotVirtual + getLinkPosition(self, link_name)qibullet.robot_virtual.RobotVirtual + getPhysicsClientId(self)qibullet.robot_virtual.RobotVirtual + getPosition(self)qibullet.robot_virtual.RobotVirtual + getRobotModel(self)qibullet.robot_virtual.RobotVirtual + goToPosture(self, posture_name, percentage_speed)qibullet.nao_virtual.NaoVirtual + ID_CAMERA_BOTTOM (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic + ID_CAMERA_TOP (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic + isSelfColliding(self, link_names)qibullet.robot_virtual.RobotVirtual + joint_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + link_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + loadRobot(self, translation, quaternion, physicsClientId=0)qibullet.nao_virtual.NaoVirtual + P_CROUCH (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic + P_LYING_BACK (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic + P_LYING_BELLY (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic + P_SIT (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic + P_SIT_RELAX (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic + P_STAND (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic + P_STAND_INIT (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic + P_STAND_ZERO (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic + physics_client (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + robot_model (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + setAngles(self, joint_names, joint_values, percentage_speed)qibullet.nao_virtual.NaoVirtual + subscribeCamera(self, camera_id, resolution=Camera.K_QVGA)qibullet.robot_virtual.RobotVirtual + unsubscribeCamera(self, handle)qibullet.robot_virtual.RobotVirtual + URDF_FILE (defined in qibullet.nao_virtual.NaoVirtual)qibullet.nao_virtual.NaoVirtualstatic
diff --git a/docs/api/classqibullet_1_1nao__virtual_1_1NaoVirtual.html b/docs/api/classqibullet_1_1nao__virtual_1_1NaoVirtual.html index 1ac6117..e71f420 100644 --- a/docs/api/classqibullet_1_1nao__virtual_1_1NaoVirtual.html +++ b/docs/api/classqibullet_1_1nao__virtual_1_1NaoVirtual.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -136,12 +136,18 @@   def getPhysicsClientId (self)   +def getJoint (self, joint_name) +  +def getLink (self, link_name) +  def setAngles (self, joint_names, joint_values, percentage_speeds)   def getAnglesPosition (self, joint_names)   def getAnglesVelocity (self, joint_names)   +def getLinkPosition (self, link_name) +  def subscribeCamera (self, camera_id, resolution=Camera.K_QVGA)   def unsubscribeCamera (self, handle) diff --git a/docs/api/classqibullet_1_1pepper__virtual_1_1PepperVirtual-members.html b/docs/api/classqibullet_1_1pepper__virtual_1_1PepperVirtual-members.html index 64bb6ad..47514e5 100644 --- a/docs/api/classqibullet_1_1pepper__virtual_1_1PepperVirtual-members.html +++ b/docs/api/classqibullet_1_1pepper__virtual_1_1PepperVirtual-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -110,33 +110,37 @@ getCameraLink(self, handle)qibullet.robot_virtual.RobotVirtual getCameraResolution(self, handle)qibullet.robot_virtual.RobotVirtual getFrontLaserValue(self)qibullet.pepper_virtual.PepperVirtual - getLeftLaserValue(self)qibullet.pepper_virtual.PepperVirtual - getPhysicsClientId(self)qibullet.robot_virtual.RobotVirtual - getPosition(self)qibullet.robot_virtual.RobotVirtual - getRightLaserValue(self)qibullet.pepper_virtual.PepperVirtual - getRobotModel(self)qibullet.robot_virtual.RobotVirtual - goToPosture(self, posture_name, percentage_speed)qibullet.pepper_virtual.PepperVirtual - ID_CAMERA_BOTTOM (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtualstatic - ID_CAMERA_DEPTH (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtualstatic - ID_CAMERA_TOP (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtualstatic - isSelfColliding(self, link_names)qibullet.robot_virtual.RobotVirtual - joint_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - laser_manager (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtual - linear_acceleration (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtual - linear_velocity (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtual - link_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - loadRobot(self, translation, quaternion, physicsClientId=0)qibullet.pepper_virtual.PepperVirtual - motion_constraint (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtual - move(self, x, y, theta)qibullet.pepper_virtual.PepperVirtual - moveTo(self, x, y, theta, frame=FRAME_ROBOT, speed=None, _async=False)qibullet.pepper_virtual.PepperVirtual - P_CROUCH (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtualstatic - P_STAND (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtualstatic - P_STAND_INIT (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtualstatic - P_STAND_ZERO (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtualstatic - physics_client (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - robot_model (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - setAngles(self, joint_names, joint_values, percentage_speed)qibullet.pepper_virtual.PepperVirtual - showLaser(self, display)qibullet.pepper_virtual.PepperVirtual + getJoint(self, joint_name)qibullet.robot_virtual.RobotVirtual + getLeftLaserValue(self)qibullet.pepper_virtual.PepperVirtual + getLink(self, link_name)qibullet.robot_virtual.RobotVirtual + getLinkPosition(self, link_name)qibullet.robot_virtual.RobotVirtual + getPhysicsClientId(self)qibullet.robot_virtual.RobotVirtual + getPosition(self)qibullet.robot_virtual.RobotVirtual + getRightLaserValue(self)qibullet.pepper_virtual.PepperVirtual + getRobotModel(self)qibullet.robot_virtual.RobotVirtual + goToPosture(self, posture_name, percentage_speed)qibullet.pepper_virtual.PepperVirtual + ID_CAMERA_BOTTOM (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtualstatic + ID_CAMERA_DEPTH (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtualstatic + ID_CAMERA_TOP (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtualstatic + isSelfColliding(self, link_names)qibullet.robot_virtual.RobotVirtual + joint_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + laser_manager (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtual + linear_acceleration (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtual + linear_velocity (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtual + link_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + loadRobot(self, translation, quaternion, physicsClientId=0)qibullet.pepper_virtual.PepperVirtual + motion_constraint (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtual + move(self, x, y, theta)qibullet.pepper_virtual.PepperVirtual + moveTo(self, x, y, theta, frame=FRAME_ROBOT, speed=None, _async=False)qibullet.pepper_virtual.PepperVirtual + P_CROUCH (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtualstatic + P_STAND (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtualstatic + P_STAND_INIT (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtualstatic + P_STAND_ZERO (defined in qibullet.pepper_virtual.PepperVirtual)qibullet.pepper_virtual.PepperVirtualstatic + physics_client (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + robot_model (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + setAngles(self, joint_names, joint_values, percentage_speed)qibullet.pepper_virtual.PepperVirtual + showLaser(self, display)qibullet.pepper_virtual.PepperVirtual + stopMove(self)qibullet.pepper_virtual.PepperVirtual subscribeCamera(self, camera_id, resolution=Camera.K_QVGA)qibullet.robot_virtual.RobotVirtual subscribeLaser(self)qibullet.pepper_virtual.PepperVirtual unsubscribeCamera(self, handle)qibullet.robot_virtual.RobotVirtual diff --git a/docs/api/classqibullet_1_1pepper__virtual_1_1PepperVirtual.html b/docs/api/classqibullet_1_1pepper__virtual_1_1PepperVirtual.html index 6ee91c8..abb4252 100644 --- a/docs/api/classqibullet_1_1pepper__virtual_1_1PepperVirtual.html +++ b/docs/api/classqibullet_1_1pepper__virtual_1_1PepperVirtual.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -123,6 +123,8 @@   def move (self, x, y, theta)   +def stopMove (self) +  def setAngles (self, joint_names, joint_values, percentage_speed)   def getAnglesPosition (self, joint_names) @@ -152,12 +154,18 @@   def getPhysicsClientId (self)   +def getJoint (self, joint_name) +  +def getLink (self, link_name) +  def setAngles (self, joint_names, joint_values, percentage_speeds)   def getAnglesPosition (self, joint_names)   def getAnglesVelocity (self, joint_names)   +def getLinkPosition (self, link_name) +  def subscribeCamera (self, camera_id, resolution=Camera.K_QVGA)   def unsubscribeCamera (self, handle) @@ -686,6 +694,25 @@

Member Function Documentation

+ +
+
+ + + + + + + + +
def qibullet.pepper_virtual.PepperVirtual.stopMove ( self)
+
+
If an aynchronous moveTo has been launched, calling this method will
+stop the asynchronous process. Calling this method is equivalent to
+calling moveTo(0.0, 0.0, 0.0, _async=True)
+
+
+
diff --git a/docs/api/classqibullet_1_1robot__module_1_1RobotModule-members.html b/docs/api/classqibullet_1_1robot__module_1_1RobotModule-members.html index 7ac7280..bf528fc 100644 --- a/docs/api/classqibullet_1_1robot__module_1_1RobotModule-members.html +++ b/docs/api/classqibullet_1_1robot__module_1_1RobotModule-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1robot__module_1_1RobotModule.html b/docs/api/classqibullet_1_1robot__module_1_1RobotModule.html index c0c4dd2..75af8ea 100644 --- a/docs/api/classqibullet_1_1robot__module_1_1RobotModule.html +++ b/docs/api/classqibullet_1_1robot__module_1_1RobotModule.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1robot__posture_1_1NaoPosture-members.html b/docs/api/classqibullet_1_1robot__posture_1_1NaoPosture-members.html index 4f87dff..ae79da3 100644 --- a/docs/api/classqibullet_1_1robot__posture_1_1NaoPosture-members.html +++ b/docs/api/classqibullet_1_1robot__posture_1_1NaoPosture-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1robot__posture_1_1NaoPosture.html b/docs/api/classqibullet_1_1robot__posture_1_1NaoPosture.html index bb7d8ab..b6e7c99 100644 --- a/docs/api/classqibullet_1_1robot__posture_1_1NaoPosture.html +++ b/docs/api/classqibullet_1_1robot__posture_1_1NaoPosture.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1robot__posture_1_1PepperPosture-members.html b/docs/api/classqibullet_1_1robot__posture_1_1PepperPosture-members.html index ce0c8f1..4143670 100644 --- a/docs/api/classqibullet_1_1robot__posture_1_1PepperPosture-members.html +++ b/docs/api/classqibullet_1_1robot__posture_1_1PepperPosture-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1robot__posture_1_1PepperPosture.html b/docs/api/classqibullet_1_1robot__posture_1_1PepperPosture.html index 33cc178..702596a 100644 --- a/docs/api/classqibullet_1_1robot__posture_1_1PepperPosture.html +++ b/docs/api/classqibullet_1_1robot__posture_1_1PepperPosture.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1robot__posture_1_1RobotPosture-members.html b/docs/api/classqibullet_1_1robot__posture_1_1RobotPosture-members.html index ebf8f14..653e279 100644 --- a/docs/api/classqibullet_1_1robot__posture_1_1RobotPosture-members.html +++ b/docs/api/classqibullet_1_1robot__posture_1_1RobotPosture-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1robot__posture_1_1RobotPosture.html b/docs/api/classqibullet_1_1robot__posture_1_1RobotPosture.html index 4781ed8..b383290 100644 --- a/docs/api/classqibullet_1_1robot__posture_1_1RobotPosture.html +++ b/docs/api/classqibullet_1_1robot__posture_1_1RobotPosture.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1robot__posture_1_1RomeoPosture-members.html b/docs/api/classqibullet_1_1robot__posture_1_1RomeoPosture-members.html index 4d7a699..8fb1bb8 100644 --- a/docs/api/classqibullet_1_1robot__posture_1_1RomeoPosture-members.html +++ b/docs/api/classqibullet_1_1robot__posture_1_1RomeoPosture-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1robot__posture_1_1RomeoPosture.html b/docs/api/classqibullet_1_1robot__posture_1_1RomeoPosture.html index f62eabb..09067ab 100644 --- a/docs/api/classqibullet_1_1robot__posture_1_1RomeoPosture.html +++ b/docs/api/classqibullet_1_1robot__posture_1_1RomeoPosture.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1robot__virtual_1_1RobotVirtual-members.html b/docs/api/classqibullet_1_1robot__virtual_1_1RobotVirtual-members.html index 9304c6e..e7cc207 100644 --- a/docs/api/classqibullet_1_1robot__virtual_1_1RobotVirtual-members.html +++ b/docs/api/classqibullet_1_1robot__virtual_1_1RobotVirtual-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -103,18 +103,21 @@ getCameraFrame(self, handle)qibullet.robot_virtual.RobotVirtual getCameraLink(self, handle)qibullet.robot_virtual.RobotVirtual getCameraResolution(self, handle)qibullet.robot_virtual.RobotVirtual - getPhysicsClientId(self)qibullet.robot_virtual.RobotVirtual - getPosition(self)qibullet.robot_virtual.RobotVirtual - getRobotModel(self)qibullet.robot_virtual.RobotVirtual - isSelfColliding(self, link_names)qibullet.robot_virtual.RobotVirtual - joint_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - link_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - loadRobot(self, translation, quaternion, physicsClientId=0)qibullet.robot_virtual.RobotVirtual - physics_client (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - robot_model (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - setAngles(self, joint_names, joint_values, percentage_speeds)qibullet.robot_virtual.RobotVirtual - subscribeCamera(self, camera_id, resolution=Camera.K_QVGA)qibullet.robot_virtual.RobotVirtual - unsubscribeCamera(self, handle)qibullet.robot_virtual.RobotVirtual + getJoint(self, joint_name)qibullet.robot_virtual.RobotVirtual + getLink(self, link_name)qibullet.robot_virtual.RobotVirtual + getLinkPosition(self, link_name)qibullet.robot_virtual.RobotVirtual + getPhysicsClientId(self)qibullet.robot_virtual.RobotVirtual + getPosition(self)qibullet.robot_virtual.RobotVirtual + getRobotModel(self)qibullet.robot_virtual.RobotVirtual + isSelfColliding(self, link_names)qibullet.robot_virtual.RobotVirtual + joint_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + link_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + loadRobot(self, translation, quaternion, physicsClientId=0)qibullet.robot_virtual.RobotVirtual + physics_client (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + robot_model (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + setAngles(self, joint_names, joint_values, percentage_speeds)qibullet.robot_virtual.RobotVirtual + subscribeCamera(self, camera_id, resolution=Camera.K_QVGA)qibullet.robot_virtual.RobotVirtual + unsubscribeCamera(self, handle)qibullet.robot_virtual.RobotVirtual
diff --git a/docs/api/classqibullet_1_1robot__virtual_1_1RobotVirtual.html b/docs/api/classqibullet_1_1robot__virtual_1_1RobotVirtual.html index 8656454..1834d44 100644 --- a/docs/api/classqibullet_1_1robot__virtual_1_1RobotVirtual.html +++ b/docs/api/classqibullet_1_1robot__virtual_1_1RobotVirtual.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -116,12 +116,18 @@   def getPhysicsClientId (self)   +def getJoint (self, joint_name) +  +def getLink (self, link_name) +  def setAngles (self, joint_names, joint_values, percentage_speeds)   def getAnglesPosition (self, joint_names)   def getAnglesVelocity (self, joint_names)   +def getLinkPosition (self, link_name) +  def subscribeCamera (self, camera_id, resolution=Camera.K_QVGA)   def unsubscribeCamera (self, handle) @@ -407,6 +413,106 @@

Member Function Documentation

+ +
+
+ + + + + + + + + + + + + + + + + + +
def qibullet.robot_virtual.RobotVirtual.getJoint ( self,
 joint_name 
)
+
+
Returns the Joint object named "joint_name". If the required joint does
+not exist, the method will raise a KeyError.
+
+Parameters:
+    joint_name - The name of the desired joint, eg "RShoulderPitch"
+
+
+
+ +
+
+ + + + + + + + + + + + + + + + + + +
def qibullet.robot_virtual.RobotVirtual.getLink ( self,
 link_name 
)
+
+
Returns the Link object named "link_name". If the required link does
+not exist, the method will raise a KeyError.
+
+Parameters:
+    link_name - The name of the desired link, eg "Tibia"
+
+
+
+ +
+
+ + + + + + + + + + + + + + + + + + +
def qibullet.robot_virtual.RobotVirtual.getLinkPosition ( self,
 link_name 
)
+
+
Returns the position of a robot link in the WORLD frame. The position
+is expressed as a 3 dimensional translation [x, y, z] and a 4
+dimensional quaternion [x, y, z, w]. If the required link does not
+exist, the method will raise a KeyError.
+
+Parameters:
+    link_name - The name of the desired link, eg "Tibia"
+
+Returns:
+    translation - 3 dimensional list containing the translation
+    quaternion - 4 dimensional list containing the rotation, as a
+    quaternion
+
+
+
diff --git a/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual-members.html b/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual-members.html index ba7eee1..bb70575 100644 --- a/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual-members.html +++ b/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -109,27 +109,30 @@ getCameraFrame(self, handle)qibullet.robot_virtual.RobotVirtual getCameraLink(self, handle)qibullet.robot_virtual.RobotVirtual getCameraResolution(self, handle)qibullet.robot_virtual.RobotVirtual - getPhysicsClientId(self)qibullet.robot_virtual.RobotVirtual - getPosition(self)qibullet.robot_virtual.RobotVirtual - getRobotModel(self)qibullet.robot_virtual.RobotVirtual - goToPosture(self, posture_name, percentage_speed)qibullet.romeo_virtual.RomeoVirtual - ID_CAMERA_DEPTH (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic - ID_CAMERA_LEFT (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic - ID_CAMERA_RIGHT (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic - isSelfColliding(self, link_names)qibullet.robot_virtual.RobotVirtual - joint_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - link_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - loadRobot(self, translation, quaternion, physicsClientId=0)qibullet.romeo_virtual.RomeoVirtual - P_CROUCH (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic - P_STAND (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic - P_STAND_INIT (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic - P_STAND_ZERO (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic - physics_client (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - robot_model (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual - setAngles(self, joint_names, joint_values, percentage_speed)qibullet.romeo_virtual.RomeoVirtual - subscribeCamera(self, camera_id, resolution=Camera.K_QVGA)qibullet.robot_virtual.RobotVirtual - unsubscribeCamera(self, handle)qibullet.robot_virtual.RobotVirtual - URDF_FILE (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic + getJoint(self, joint_name)qibullet.robot_virtual.RobotVirtual + getLink(self, link_name)qibullet.robot_virtual.RobotVirtual + getLinkPosition(self, link_name)qibullet.robot_virtual.RobotVirtual + getPhysicsClientId(self)qibullet.robot_virtual.RobotVirtual + getPosition(self)qibullet.robot_virtual.RobotVirtual + getRobotModel(self)qibullet.robot_virtual.RobotVirtual + goToPosture(self, posture_name, percentage_speed)qibullet.romeo_virtual.RomeoVirtual + ID_CAMERA_DEPTH (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic + ID_CAMERA_LEFT (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic + ID_CAMERA_RIGHT (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic + isSelfColliding(self, link_names)qibullet.robot_virtual.RobotVirtual + joint_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + link_dict (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + loadRobot(self, translation, quaternion, physicsClientId=0)qibullet.romeo_virtual.RomeoVirtual + P_CROUCH (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic + P_STAND (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic + P_STAND_INIT (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic + P_STAND_ZERO (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic + physics_client (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + robot_model (defined in qibullet.robot_virtual.RobotVirtual)qibullet.robot_virtual.RobotVirtual + setAngles(self, joint_names, joint_values, percentage_speed)qibullet.romeo_virtual.RomeoVirtual + subscribeCamera(self, camera_id, resolution=Camera.K_QVGA)qibullet.robot_virtual.RobotVirtual + unsubscribeCamera(self, handle)qibullet.robot_virtual.RobotVirtual + URDF_FILE (defined in qibullet.romeo_virtual.RomeoVirtual)qibullet.romeo_virtual.RomeoVirtualstatic
diff --git a/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual.html b/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual.html index 6c00231..e1ea406 100644 --- a/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual.html +++ b/docs/api/classqibullet_1_1romeo__virtual_1_1RomeoVirtual.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -136,12 +136,18 @@   def getPhysicsClientId (self)   +def getJoint (self, joint_name) +  +def getLink (self, link_name) +  def setAngles (self, joint_names, joint_values, percentage_speeds)   def getAnglesPosition (self, joint_names)   def getAnglesVelocity (self, joint_names)   +def getLinkPosition (self, link_name) +  def subscribeCamera (self, camera_id, resolution=Camera.K_QVGA)   def unsubscribeCamera (self, handle) diff --git a/docs/api/classqibullet_1_1ros__wrapper_1_1NaoRosWrapper-members.html b/docs/api/classqibullet_1_1ros__wrapper_1_1NaoRosWrapper-members.html index a0c3c39..6f604e2 100644 --- a/docs/api/classqibullet_1_1ros__wrapper_1_1NaoRosWrapper-members.html +++ b/docs/api/classqibullet_1_1ros__wrapper_1_1NaoRosWrapper-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -96,23 +96,20 @@ - - - + - - - - - - - - - - - - + + + + + + + + + + +
__init__(self)qibullet.ros_wrapper.NaoRosWrapper
bottom_cam_pub (defined in qibullet.ros_wrapper.NaoRosWrapper)qibullet.ros_wrapper.NaoRosWrapper
bottom_info_msg (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
bottom_info_pub (defined in qibullet.ros_wrapper.NaoRosWrapper)qibullet.ros_wrapper.NaoRosWrapper
depth_info_msg (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
bottom_info_pub (defined in qibullet.ros_wrapper.NaoRosWrapper)qibullet.ros_wrapper.NaoRosWrapper
frequency (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
front_cam_pub (defined in qibullet.ros_wrapper.NaoRosWrapper)qibullet.ros_wrapper.NaoRosWrapper
front_info_msg (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
front_info_pub (defined in qibullet.ros_wrapper.NaoRosWrapper)qibullet.ros_wrapper.NaoRosWrapper
image_bridge (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
joint_states_pub (defined in qibullet.ros_wrapper.NaoRosWrapper)qibullet.ros_wrapper.NaoRosWrapper
launchWrapper(self, virtual_nao, ros_namespace, frequency=200)qibullet.ros_wrapper.NaoRosWrapper
odom_pub (defined in qibullet.ros_wrapper.NaoRosWrapper)qibullet.ros_wrapper.NaoRosWrapper
robot (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
ros_namespace (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
roslauncher (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
spin_thread (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
stopWrapper(self)qibullet.ros_wrapper.RosWrapper
transform_broadcaster (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
front_info_pub (defined in qibullet.ros_wrapper.NaoRosWrapper)qibullet.ros_wrapper.NaoRosWrapper
image_bridge (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
joint_states_pub (defined in qibullet.ros_wrapper.NaoRosWrapper)qibullet.ros_wrapper.NaoRosWrapper
launchWrapper(self, virtual_nao, ros_namespace, frequency=200)qibullet.ros_wrapper.NaoRosWrapper
odom_pub (defined in qibullet.ros_wrapper.NaoRosWrapper)qibullet.ros_wrapper.NaoRosWrapper
robot (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
ros_namespace (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
roslauncher (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
spin_thread (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
stopWrapper(self)qibullet.ros_wrapper.RosWrapper
transform_broadcaster (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
diff --git a/docs/api/classqibullet_1_1ros__wrapper_1_1NaoRosWrapper.html b/docs/api/classqibullet_1_1ros__wrapper_1_1NaoRosWrapper.html index bcc3e00..800d6bd 100644 --- a/docs/api/classqibullet_1_1ros__wrapper_1_1NaoRosWrapper.html +++ b/docs/api/classqibullet_1_1ros__wrapper_1_1NaoRosWrapper.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -153,15 +153,6 @@  image_bridge   - - front_info_msg -  - - bottom_info_msg -  - - depth_info_msg -   roslauncher   diff --git a/docs/api/classqibullet_1_1ros__wrapper_1_1PepperRosWrapper-members.html b/docs/api/classqibullet_1_1ros__wrapper_1_1PepperRosWrapper-members.html index f989537..af45cf8 100644 --- a/docs/api/classqibullet_1_1ros__wrapper_1_1PepperRosWrapper-members.html +++ b/docs/api/classqibullet_1_1ros__wrapper_1_1PepperRosWrapper-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -96,26 +96,23 @@ - - - - + + - - - - - - - - - - - - - + + + + + + + + + + + +
__init__(self)qibullet.ros_wrapper.PepperRosWrapper
bottom_cam_pub (defined in qibullet.ros_wrapper.PepperRosWrapper)qibullet.ros_wrapper.PepperRosWrapper
bottom_info_msg (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
bottom_info_pub (defined in qibullet.ros_wrapper.PepperRosWrapper)qibullet.ros_wrapper.PepperRosWrapper
depth_cam_pub (defined in qibullet.ros_wrapper.PepperRosWrapper)qibullet.ros_wrapper.PepperRosWrapper
depth_info_msg (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
bottom_info_pub (defined in qibullet.ros_wrapper.PepperRosWrapper)qibullet.ros_wrapper.PepperRosWrapper
depth_cam_pub (defined in qibullet.ros_wrapper.PepperRosWrapper)qibullet.ros_wrapper.PepperRosWrapper
depth_info_pub (defined in qibullet.ros_wrapper.PepperRosWrapper)qibullet.ros_wrapper.PepperRosWrapper
frequency (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
front_cam_pub (defined in qibullet.ros_wrapper.PepperRosWrapper)qibullet.ros_wrapper.PepperRosWrapper
front_info_msg (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
front_info_pub (defined in qibullet.ros_wrapper.PepperRosWrapper)qibullet.ros_wrapper.PepperRosWrapper
image_bridge (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
joint_states_pub (defined in qibullet.ros_wrapper.PepperRosWrapper)qibullet.ros_wrapper.PepperRosWrapper
laser_pub (defined in qibullet.ros_wrapper.PepperRosWrapper)qibullet.ros_wrapper.PepperRosWrapper
launchWrapper(self, virtual_pepper, ros_namespace, frequency=200)qibullet.ros_wrapper.PepperRosWrapper
odom_pub (defined in qibullet.ros_wrapper.PepperRosWrapper)qibullet.ros_wrapper.PepperRosWrapper
robot (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
ros_namespace (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
roslauncher (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
spin_thread (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
stopWrapper(self)qibullet.ros_wrapper.RosWrapper
transform_broadcaster (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
front_info_pub (defined in qibullet.ros_wrapper.PepperRosWrapper)qibullet.ros_wrapper.PepperRosWrapper
image_bridge (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
joint_states_pub (defined in qibullet.ros_wrapper.PepperRosWrapper)qibullet.ros_wrapper.PepperRosWrapper
laser_pub (defined in qibullet.ros_wrapper.PepperRosWrapper)qibullet.ros_wrapper.PepperRosWrapper
launchWrapper(self, virtual_pepper, ros_namespace, frequency=200)qibullet.ros_wrapper.PepperRosWrapper
odom_pub (defined in qibullet.ros_wrapper.PepperRosWrapper)qibullet.ros_wrapper.PepperRosWrapper
robot (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
ros_namespace (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
roslauncher (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
spin_thread (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
stopWrapper(self)qibullet.ros_wrapper.RosWrapper
transform_broadcaster (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
diff --git a/docs/api/classqibullet_1_1ros__wrapper_1_1PepperRosWrapper.html b/docs/api/classqibullet_1_1ros__wrapper_1_1PepperRosWrapper.html index 5c6a7ba..ee2eb51 100644 --- a/docs/api/classqibullet_1_1ros__wrapper_1_1PepperRosWrapper.html +++ b/docs/api/classqibullet_1_1ros__wrapper_1_1PepperRosWrapper.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -162,15 +162,6 @@  image_bridge   - - front_info_msg -  - - bottom_info_msg -  - - depth_info_msg -   roslauncher   diff --git a/docs/api/classqibullet_1_1ros__wrapper_1_1RomeoRosWrapper-members.html b/docs/api/classqibullet_1_1ros__wrapper_1_1RomeoRosWrapper-members.html index 551dfa6..6de73fd 100644 --- a/docs/api/classqibullet_1_1ros__wrapper_1_1RomeoRosWrapper-members.html +++ b/docs/api/classqibullet_1_1ros__wrapper_1_1RomeoRosWrapper-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -95,26 +95,23 @@

This is the complete list of members for qibullet.ros_wrapper.RomeoRosWrapper, including all inherited members.

- - - + - - - - - - - - - - - - - - - + + + + + + + + + + + + + +
__init__(self)qibullet.ros_wrapper.RomeoRosWrapper
bottom_info_msg (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
depth_cam_pub (defined in qibullet.ros_wrapper.RomeoRosWrapper)qibullet.ros_wrapper.RomeoRosWrapper
depth_info_msg (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
depth_cam_pub (defined in qibullet.ros_wrapper.RomeoRosWrapper)qibullet.ros_wrapper.RomeoRosWrapper
depth_info_pub (defined in qibullet.ros_wrapper.RomeoRosWrapper)qibullet.ros_wrapper.RomeoRosWrapper
frequency (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
front_info_msg (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
image_bridge (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
joint_states_pub (defined in qibullet.ros_wrapper.RomeoRosWrapper)qibullet.ros_wrapper.RomeoRosWrapper
launchWrapper(self, virtual_romeo, ros_namespace, frequency=200)qibullet.ros_wrapper.RomeoRosWrapper
left_cam_pub (defined in qibullet.ros_wrapper.RomeoRosWrapper)qibullet.ros_wrapper.RomeoRosWrapper
left_info_pub (defined in qibullet.ros_wrapper.RomeoRosWrapper)qibullet.ros_wrapper.RomeoRosWrapper
odom_pub (defined in qibullet.ros_wrapper.RomeoRosWrapper)qibullet.ros_wrapper.RomeoRosWrapper
right_cam_pub (defined in qibullet.ros_wrapper.RomeoRosWrapper)qibullet.ros_wrapper.RomeoRosWrapper
right_info_pub (defined in qibullet.ros_wrapper.RomeoRosWrapper)qibullet.ros_wrapper.RomeoRosWrapper
robot (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
ros_namespace (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
roslauncher (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
spin_thread (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
stopWrapper(self)qibullet.ros_wrapper.RosWrapper
transform_broadcaster (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
image_bridge (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
joint_states_pub (defined in qibullet.ros_wrapper.RomeoRosWrapper)qibullet.ros_wrapper.RomeoRosWrapper
launchWrapper(self, virtual_romeo, ros_namespace, frequency=200)qibullet.ros_wrapper.RomeoRosWrapper
left_cam_pub (defined in qibullet.ros_wrapper.RomeoRosWrapper)qibullet.ros_wrapper.RomeoRosWrapper
left_info_pub (defined in qibullet.ros_wrapper.RomeoRosWrapper)qibullet.ros_wrapper.RomeoRosWrapper
odom_pub (defined in qibullet.ros_wrapper.RomeoRosWrapper)qibullet.ros_wrapper.RomeoRosWrapper
right_cam_pub (defined in qibullet.ros_wrapper.RomeoRosWrapper)qibullet.ros_wrapper.RomeoRosWrapper
right_info_pub (defined in qibullet.ros_wrapper.RomeoRosWrapper)qibullet.ros_wrapper.RomeoRosWrapper
robot (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
ros_namespace (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
roslauncher (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
spin_thread (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
stopWrapper(self)qibullet.ros_wrapper.RosWrapper
transform_broadcaster (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
diff --git a/docs/api/classqibullet_1_1ros__wrapper_1_1RomeoRosWrapper.html b/docs/api/classqibullet_1_1ros__wrapper_1_1RomeoRosWrapper.html index fb30aea..f7262f9 100644 --- a/docs/api/classqibullet_1_1ros__wrapper_1_1RomeoRosWrapper.html +++ b/docs/api/classqibullet_1_1ros__wrapper_1_1RomeoRosWrapper.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -159,15 +159,6 @@  image_bridge   - - front_info_msg -  - - bottom_info_msg -  - - depth_info_msg -   roslauncher   diff --git a/docs/api/classqibullet_1_1ros__wrapper_1_1RosWrapper-members.html b/docs/api/classqibullet_1_1ros__wrapper_1_1RosWrapper-members.html index 623c41b..2086895 100644 --- a/docs/api/classqibullet_1_1ros__wrapper_1_1RosWrapper-members.html +++ b/docs/api/classqibullet_1_1ros__wrapper_1_1RosWrapper-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -95,18 +95,15 @@

This is the complete list of members for qibullet.ros_wrapper.RosWrapper, including all inherited members.

- - - - - - - - - - - + + + + + + + +
__init__(self)qibullet.ros_wrapper.RosWrapper
bottom_info_msg (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
depth_info_msg (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
frequency (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
front_info_msg (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
image_bridge (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
launchWrapper(self, virtual_robot, ros_namespace, frequency=200)qibullet.ros_wrapper.RosWrapper
robot (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
ros_namespace (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
roslauncher (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
spin_thread (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
stopWrapper(self)qibullet.ros_wrapper.RosWrapper
transform_broadcaster (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
image_bridge (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
launchWrapper(self, virtual_robot, ros_namespace, frequency=200)qibullet.ros_wrapper.RosWrapper
robot (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
ros_namespace (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
roslauncher (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
spin_thread (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
stopWrapper(self)qibullet.ros_wrapper.RosWrapper
transform_broadcaster (defined in qibullet.ros_wrapper.RosWrapper)qibullet.ros_wrapper.RosWrapper
diff --git a/docs/api/classqibullet_1_1ros__wrapper_1_1RosWrapper.html b/docs/api/classqibullet_1_1ros__wrapper_1_1RosWrapper.html index 0cfc05e..603c989 100644 --- a/docs/api/classqibullet_1_1ros__wrapper_1_1RosWrapper.html +++ b/docs/api/classqibullet_1_1ros__wrapper_1_1RosWrapper.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -123,15 +123,6 @@  image_bridge   - - front_info_msg -  - - bottom_info_msg -  - - depth_info_msg -   roslauncher   diff --git a/docs/api/classqibullet_1_1sensor_1_1Sensor-members.html b/docs/api/classqibullet_1_1sensor_1_1Sensor-members.html index 5ab61e4..8935be4 100644 --- a/docs/api/classqibullet_1_1sensor_1_1Sensor-members.html +++ b/docs/api/classqibullet_1_1sensor_1_1Sensor-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1sensor_1_1Sensor.html b/docs/api/classqibullet_1_1sensor_1_1Sensor.html index a00bab3..e1d7c59 100644 --- a/docs/api/classqibullet_1_1sensor_1_1Sensor.html +++ b/docs/api/classqibullet_1_1sensor_1_1Sensor.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager-members.html b/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager-members.html index df3b3b1..3e03a4d 100644 --- a/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager-members.html +++ b/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager-members.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager.html b/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager.html index f3980fe..c847ec4 100644 --- a/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager.html +++ b/docs/api/classqibullet_1_1simulation__manager_1_1SimulationManager.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -394,7 +394,7 @@

Member Function Documentation

robot is supposed to be spawned translation - List containing 3 elements, the spawning translation [x, y, z] in the WORLD frame - quaternions - List containing 4 elements, the spawning rotation as + quaternion - List containing 4 elements, the spawning rotation as a quaternion [x, y, z, w] in the WORLD frame spawn_ground_plane - If True, the pybullet_data ground plane will be spawned @@ -452,7 +452,7 @@

Member Function Documentation

robot is supposed to be spawned translation - List containing 3 elements, the spawning translation [x, y, z] in the WORLD frame - quaternions - List containing 4 elements, the spawning rotation as + quaternion - List containing 4 elements, the spawning rotation as a quaternion [x, y, z, w] in the WORLD frame spawn_ground_plane - If True, the pybullet_data ground plane will be spawned @@ -511,7 +511,7 @@

Member Function Documentation

robot is supposed to be spawned translation - List containing 3 elements, the spawning translation [x, y, z] in the WORLD frame - quaternions - List containing 4 elements, the spawning rotation as + quaternion - List containing 4 elements, the spawning rotation as a quaternion [x, y, z, w] in the WORLD frame spawn_ground_plane - If True, the pybullet_data ground plane will be spawned diff --git a/docs/api/dir_6f408bf5b5cefda8ce18c40801c7f671.html b/docs/api/dir_6f408bf5b5cefda8ce18c40801c7f671.html index d7879ec..1f199bc 100644 --- a/docs/api/dir_6f408bf5b5cefda8ce18c40801c7f671.html +++ b/docs/api/dir_6f408bf5b5cefda8ce18c40801c7f671.html @@ -4,7 +4,7 @@ -qiBullet: /home/max/Documents/qibullet/qibullet Directory Reference +qiBullet: /home/mbusy/Documents/simulation/qibullet/qibullet Directory Reference @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
diff --git a/docs/api/functions.html b/docs/api/functions.html index e34bdf3..fa51fa3 100644 --- a/docs/api/functions.html +++ b/docs/api/functions.html @@ -24,7 +24,7 @@
qiBullet -  1.4.1 +  1.4.2
Bullet-based python simulation for SoftBank Robotics' robots.
@@ -179,10 +179,19 @@

- g -

    : qibullet.joint.Joint , qibullet.link.Link +
  • getJoint() +: qibullet.robot_virtual.RobotVirtual +
  • getLeftLaserValue() : qibullet.laser.Laser , qibullet.pepper_virtual.PepperVirtual
    • +
  • getLink() +: qibullet.robot_virtual.RobotVirtual +
    • +
  • getLinkPosition() +: qibullet.robot_virtual.RobotVirtual +
  • getLowerLimit() : qibullet.joint.Joint
    • @@ -331,6 +340,10 @@

    - s -

    • spawnRomeo() : qibullet.simulation_manager.SimulationManager
      • +
    • stopMove() +: qibullet.base_controller.PepperBaseController +, qibullet.pepper_virtual.PepperVirtual +
    • stopSimulation() : qibullet.simulation_manager.SimulationManager
      • diff --git a/docs/api/functions_func.html b/docs/api/functions_func.html index 09a0d8d..21944bc 100644 --- a/docs/api/functions_func.html +++ b/docs/api/functions_func.html @@ -24,7 +24,7 @@
      qiBullet -  1.4.1 +  1.4.2
      Bullet-based python simulation for SoftBank Robotics' robots.
      @@ -179,10 +179,19 @@

      - g -

        : qibullet.joint.Joint , qibullet.link.Link +
      • getJoint() +: qibullet.robot_virtual.RobotVirtual +
      • getLeftLaserValue() : qibullet.laser.Laser , qibullet.pepper_virtual.PepperVirtual
        • +
      • getLink() +: qibullet.robot_virtual.RobotVirtual +
        • +
      • getLinkPosition() +: qibullet.robot_virtual.RobotVirtual +
      • getLowerLimit() : qibullet.joint.Joint
        • @@ -331,6 +340,10 @@

        - s -

        • spawnRomeo() : qibullet.simulation_manager.SimulationManager
          • +
        • stopMove() +: qibullet.base_controller.PepperBaseController +, qibullet.pepper_virtual.PepperVirtual +
        • stopSimulation() : qibullet.simulation_manager.SimulationManager
          • diff --git a/docs/api/graph_legend.html b/docs/api/graph_legend.html index d202c2d..70c926a 100644 --- a/docs/api/graph_legend.html +++ b/docs/api/graph_legend.html @@ -24,7 +24,7 @@
          qiBullet -  1.4.1 +  1.4.2
          Bullet-based python simulation for SoftBank Robotics' robots.
          diff --git a/docs/api/hierarchy.html b/docs/api/hierarchy.html index 7da5f2e..4c20807 100644 --- a/docs/api/hierarchy.html +++ b/docs/api/hierarchy.html @@ -24,7 +24,7 @@
          qiBullet -  1.4.1 +  1.4.2
          Bullet-based python simulation for SoftBank Robotics' robots.
          diff --git a/docs/api/index.html b/docs/api/index.html index b551f73..da24653 100644 --- a/docs/api/index.html +++ b/docs/api/index.html @@ -24,7 +24,7 @@
          qiBullet -  1.4.1 +  1.4.2
          Bullet-based python simulation for SoftBank Robotics' robots.
          diff --git a/docs/api/inherits.html b/docs/api/inherits.html index 5036204..7628399 100644 --- a/docs/api/inherits.html +++ b/docs/api/inherits.html @@ -24,7 +24,7 @@
          qiBullet -  1.4.1 +  1.4.2
          Bullet-based python simulation for SoftBank Robotics' robots.
          diff --git a/docs/api/search/all_3.js b/docs/api/search/all_3.js index 2fe262d..032f79f 100644 --- a/docs/api/search/all_3.js +++ b/docs/api/search/all_3.js @@ -10,7 +10,10 @@ var searchData= ['getframe',['getFrame',['../classqibullet_1_1camera_1_1Camera.html#a307a6b686f59289ae538c7723ae34aa3',1,'qibullet::camera::Camera']]], ['getfrontlaservalue',['getFrontLaserValue',['../classqibullet_1_1laser_1_1Laser.html#ae6acafb4d9405f9febf564b7720cc901',1,'qibullet.laser.Laser.getFrontLaserValue()'],['../classqibullet_1_1pepper__virtual_1_1PepperVirtual.html#a35a74dab10851e73894c61e0d5a98774',1,'qibullet.pepper_virtual.PepperVirtual.getFrontLaserValue()']]], ['getindex',['getIndex',['../classqibullet_1_1joint_1_1Joint.html#a39e26326adcffc8009d6c29367013d54',1,'qibullet.joint.Joint.getIndex()'],['../classqibullet_1_1link_1_1Link.html#a538ea4b97a25205160cec2a9e02c0a5d',1,'qibullet.link.Link.getIndex()']]], + ['getjoint',['getJoint',['../classqibullet_1_1robot__virtual_1_1RobotVirtual.html#ab50a53a83a8ba687eefc2719484dafd0',1,'qibullet::robot_virtual::RobotVirtual']]], ['getleftlaservalue',['getLeftLaserValue',['../classqibullet_1_1laser_1_1Laser.html#a81670c8e31d830a157cd3b8013593630',1,'qibullet.laser.Laser.getLeftLaserValue()'],['../classqibullet_1_1pepper__virtual_1_1PepperVirtual.html#ae2bafdfc7ed0481227345c792117f671',1,'qibullet.pepper_virtual.PepperVirtual.getLeftLaserValue()']]], + ['getlink',['getLink',['../classqibullet_1_1robot__virtual_1_1RobotVirtual.html#ad4ae5bd20706b1f28bd2462b661643d4',1,'qibullet::robot_virtual::RobotVirtual']]], + ['getlinkposition',['getLinkPosition',['../classqibullet_1_1robot__virtual_1_1RobotVirtual.html#a7c948227286b98364c95281c0a5968b4',1,'qibullet::robot_virtual::RobotVirtual']]], ['getlowerlimit',['getLowerLimit',['../classqibullet_1_1joint_1_1Joint.html#ad2f86d463d3d5154c7f288228f045caf',1,'qibullet::joint::Joint']]], ['getmaxeffort',['getMaxEffort',['../classqibullet_1_1joint_1_1Joint.html#a10ce56f00a67a07c1cd9ddf2fb004832',1,'qibullet::joint::Joint']]], ['getmaxvelocity',['getMaxVelocity',['../classqibullet_1_1joint_1_1Joint.html#a3fb886c65bd53182023a068bb5a10692',1,'qibullet::joint::Joint']]], diff --git a/docs/api/search/all_b.js b/docs/api/search/all_b.js index 5db4cd3..d21d4cf 100644 --- a/docs/api/search/all_b.js +++ b/docs/api/search/all_b.js @@ -11,6 +11,7 @@ var searchData= ['spawnnao',['spawnNao',['../classqibullet_1_1simulation__manager_1_1SimulationManager.html#aaac2f8b0a8912b2857c40de855a8d702',1,'qibullet::simulation_manager::SimulationManager']]], ['spawnpepper',['spawnPepper',['../classqibullet_1_1simulation__manager_1_1SimulationManager.html#aeac971c9a89aab4625031beb947cc088',1,'qibullet::simulation_manager::SimulationManager']]], ['spawnromeo',['spawnRomeo',['../classqibullet_1_1simulation__manager_1_1SimulationManager.html#a0cec7ba5d437a6aa4eef65c434ff5fd7',1,'qibullet::simulation_manager::SimulationManager']]], + ['stopmove',['stopMove',['../classqibullet_1_1base__controller_1_1PepperBaseController.html#a5cdc408d50232392edbc94ac336c5f55',1,'qibullet.base_controller.PepperBaseController.stopMove()'],['../classqibullet_1_1pepper__virtual_1_1PepperVirtual.html#a1f8050421702b0f6f2178cf58a0df1b0',1,'qibullet.pepper_virtual.PepperVirtual.stopMove()']]], ['stopsimulation',['stopSimulation',['../classqibullet_1_1simulation__manager_1_1SimulationManager.html#a7c3a6687ff2c6e7649e3b080bcce4f3c',1,'qibullet::simulation_manager::SimulationManager']]], ['stopwrapper',['stopWrapper',['../classqibullet_1_1ros__wrapper_1_1RosWrapper.html#ae6d32d9ed4f4775a40ecceee8ab30394',1,'qibullet::ros_wrapper::RosWrapper']]], ['subscribe',['subscribe',['../classqibullet_1_1camera_1_1Camera.html#a7de4845ef4af2f0e71cf3814ee8b3d54',1,'qibullet.camera.Camera.subscribe()'],['../classqibullet_1_1laser_1_1Laser.html#afdb939d93bd545b8480a2bb02d3f4006',1,'qibullet.laser.Laser.subscribe()']]], diff --git a/docs/api/search/functions_1.js b/docs/api/search/functions_1.js index 2fe262d..032f79f 100644 --- a/docs/api/search/functions_1.js +++ b/docs/api/search/functions_1.js @@ -10,7 +10,10 @@ var searchData= ['getframe',['getFrame',['../classqibullet_1_1camera_1_1Camera.html#a307a6b686f59289ae538c7723ae34aa3',1,'qibullet::camera::Camera']]], ['getfrontlaservalue',['getFrontLaserValue',['../classqibullet_1_1laser_1_1Laser.html#ae6acafb4d9405f9febf564b7720cc901',1,'qibullet.laser.Laser.getFrontLaserValue()'],['../classqibullet_1_1pepper__virtual_1_1PepperVirtual.html#a35a74dab10851e73894c61e0d5a98774',1,'qibullet.pepper_virtual.PepperVirtual.getFrontLaserValue()']]], ['getindex',['getIndex',['../classqibullet_1_1joint_1_1Joint.html#a39e26326adcffc8009d6c29367013d54',1,'qibullet.joint.Joint.getIndex()'],['../classqibullet_1_1link_1_1Link.html#a538ea4b97a25205160cec2a9e02c0a5d',1,'qibullet.link.Link.getIndex()']]], + ['getjoint',['getJoint',['../classqibullet_1_1robot__virtual_1_1RobotVirtual.html#ab50a53a83a8ba687eefc2719484dafd0',1,'qibullet::robot_virtual::RobotVirtual']]], ['getleftlaservalue',['getLeftLaserValue',['../classqibullet_1_1laser_1_1Laser.html#a81670c8e31d830a157cd3b8013593630',1,'qibullet.laser.Laser.getLeftLaserValue()'],['../classqibullet_1_1pepper__virtual_1_1PepperVirtual.html#ae2bafdfc7ed0481227345c792117f671',1,'qibullet.pepper_virtual.PepperVirtual.getLeftLaserValue()']]], + ['getlink',['getLink',['../classqibullet_1_1robot__virtual_1_1RobotVirtual.html#ad4ae5bd20706b1f28bd2462b661643d4',1,'qibullet::robot_virtual::RobotVirtual']]], + ['getlinkposition',['getLinkPosition',['../classqibullet_1_1robot__virtual_1_1RobotVirtual.html#a7c948227286b98364c95281c0a5968b4',1,'qibullet::robot_virtual::RobotVirtual']]], ['getlowerlimit',['getLowerLimit',['../classqibullet_1_1joint_1_1Joint.html#ad2f86d463d3d5154c7f288228f045caf',1,'qibullet::joint::Joint']]], ['getmaxeffort',['getMaxEffort',['../classqibullet_1_1joint_1_1Joint.html#a10ce56f00a67a07c1cd9ddf2fb004832',1,'qibullet::joint::Joint']]], ['getmaxvelocity',['getMaxVelocity',['../classqibullet_1_1joint_1_1Joint.html#a3fb886c65bd53182023a068bb5a10692',1,'qibullet::joint::Joint']]], diff --git a/docs/api/search/functions_6.js b/docs/api/search/functions_6.js index 8230fc8..b977711 100644 --- a/docs/api/search/functions_6.js +++ b/docs/api/search/functions_6.js @@ -9,6 +9,7 @@ var searchData= ['spawnnao',['spawnNao',['../classqibullet_1_1simulation__manager_1_1SimulationManager.html#aaac2f8b0a8912b2857c40de855a8d702',1,'qibullet::simulation_manager::SimulationManager']]], ['spawnpepper',['spawnPepper',['../classqibullet_1_1simulation__manager_1_1SimulationManager.html#aeac971c9a89aab4625031beb947cc088',1,'qibullet::simulation_manager::SimulationManager']]], ['spawnromeo',['spawnRomeo',['../classqibullet_1_1simulation__manager_1_1SimulationManager.html#a0cec7ba5d437a6aa4eef65c434ff5fd7',1,'qibullet::simulation_manager::SimulationManager']]], + ['stopmove',['stopMove',['../classqibullet_1_1base__controller_1_1PepperBaseController.html#a5cdc408d50232392edbc94ac336c5f55',1,'qibullet.base_controller.PepperBaseController.stopMove()'],['../classqibullet_1_1pepper__virtual_1_1PepperVirtual.html#a1f8050421702b0f6f2178cf58a0df1b0',1,'qibullet.pepper_virtual.PepperVirtual.stopMove()']]], ['stopsimulation',['stopSimulation',['../classqibullet_1_1simulation__manager_1_1SimulationManager.html#a7c3a6687ff2c6e7649e3b080bcce4f3c',1,'qibullet::simulation_manager::SimulationManager']]], ['stopwrapper',['stopWrapper',['../classqibullet_1_1ros__wrapper_1_1RosWrapper.html#ae6d32d9ed4f4775a40ecceee8ab30394',1,'qibullet::ros_wrapper::RosWrapper']]], ['subscribe',['subscribe',['../classqibullet_1_1camera_1_1Camera.html#a7de4845ef4af2f0e71cf3814ee8b3d54',1,'qibullet.camera.Camera.subscribe()'],['../classqibullet_1_1laser_1_1Laser.html#afdb939d93bd545b8480a2bb02d3f4006',1,'qibullet.laser.Laser.subscribe()']]], diff --git a/examples/pepper_lasers.py b/examples/pepper_lasers.py index 66cd8f5..ab1b2b7 100644 --- a/examples/pepper_lasers.py +++ b/examples/pepper_lasers.py @@ -1,6 +1,7 @@ #!/usr/bin/env python # coding: utf-8 +import time import pybullet import pybullet_data from qibullet import PepperVirtual @@ -16,7 +17,7 @@ def main(): pybullet.loadURDF( "duck_vhacd.urdf", - basePosition=[1, -1, 0.5], + basePosition=[1, 0, 0.5], globalScaling=10.0, physicsClientId=client) @@ -29,12 +30,14 @@ def main(): laser_list.extend(pepper.getFrontLaserValue()) laser_list.extend(pepper.getLeftLaserValue()) - if all(laser == 5.6 for laser in laser_list): + if all(laser == 3.0 for laser in laser_list): print("Nothing detected") else: print("Detected") pass + time.sleep(0.1) + if __name__ == "__main__": main() diff --git a/qibullet/__init__.py b/qibullet/__init__.py index 1b46171..f4d8550 100644 --- a/qibullet/__init__.py +++ b/qibullet/__init__.py @@ -10,4 +10,4 @@ from qibullet.ros_wrapper import PepperRosWrapper name = 'qibullet' -__version__ = "1.4.1" +__version__ = "1.4.2" diff --git a/qibullet/base_controller.py b/qibullet/base_controller.py index dfad915..90fb2ea 100644 --- a/qibullet/base_controller.py +++ b/qibullet/base_controller.py @@ -311,6 +311,14 @@ def move(self, x, y, theta): [0, 0, theta], physicsClientId=self.physics_client) + def stopMove(self): + """ + If an aynchronous moveTo has been launched, calling this method will + stop the asynchronous process. Calling this method is equivalent to + calling moveTo(0.0, 0.0, 0.0, BaseController.FRAME_ROBOT, _async=True) + """ + self.moveTo(0.0, 0.0, 0.0, BaseController.FRAME_ROBOT, _async=True) + def _updateConstraint(self): """ INTERNAL METHOD, update the robot's constraint. diff --git a/qibullet/pepper_virtual.py b/qibullet/pepper_virtual.py index b48e185..bd7f5cd 100644 --- a/qibullet/pepper_virtual.py +++ b/qibullet/pepper_virtual.py @@ -217,6 +217,14 @@ def move(self, x, y, theta): """ self.base_controller.move(x, y, theta) + def stopMove(self): + """ + If an aynchronous moveTo has been launched, calling this method will + stop the asynchronous process. Calling this method is equivalent to + calling moveTo(0.0, 0.0, 0.0, _async=True) + """ + self.base_controller.stopMove() + def setAngles(self, joint_names, joint_values, percentage_speed): """ Overloads @setAngles from the @RobotVirtual class. Handles the finger diff --git a/qibullet/robot_virtual.py b/qibullet/robot_virtual.py index a357d0e..a3cf04f 100644 --- a/qibullet/robot_virtual.py +++ b/qibullet/robot_virtual.py @@ -108,6 +108,26 @@ def getPhysicsClientId(self): """ return self.physics_client + def getJoint(self, joint_name): + """ + Returns the Joint object named "joint_name". If the required joint does + not exist, the method will raise a KeyError. + + Parameters: + joint_name - The name of the desired joint, eg "RShoulderPitch" + """ + return self.joint_dict[joint_name] + + def getLink(self, link_name): + """ + Returns the Link object named "link_name". If the required link does + not exist, the method will raise a KeyError. + + Parameters: + link_name - The name of the desired link, eg "Tibia" + """ + return self.link_dict[link_name] + def setAngles(self, joint_names, joint_values, percentage_speeds): """ Set angles on the robot's joints. Tests have to be performed by the @@ -187,6 +207,27 @@ def getAnglesVelocity(self, joint_names): indexes, physicsClientId=self.physics_client)] + def getLinkPosition(self, link_name): + """ + Returns the position of a robot link in the WORLD frame. The position + is expressed as a 3 dimensional translation [x, y, z] and a 4 + dimensional quaternion [x, y, z, w]. If the required link does not + exist, the method will raise a KeyError. + + Parameters: + link_name - The name of the desired link, eg "Tibia" + + Returns: + translation - 3 dimensional list containing the translation + quaternion - 4 dimensional list containing the rotation, as a + quaternion + """ + link_state = pybullet.getLinkState( + self.robot_model, + self.link_dict[link_name].getIndex()) + + return link_state[0], link_state[1] + def subscribeCamera(self, camera_id, resolution=Camera.K_QVGA): """ Subscribe to the camera holding the camera id (for instance, diff --git a/qibullet/ros_wrapper.py b/qibullet/ros_wrapper.py index 7220952..ebcbc10 100644 --- a/qibullet/ros_wrapper.py +++ b/qibullet/ros_wrapper.py @@ -45,10 +45,6 @@ except ImportError as e: MISSING_IMPORT = str(e) -TOP_OPTICAL_FRAME = "CameraTop_optical_frame" -BOTTOM_OPTICAL_FRAME = "CameraBottom_optical_frame" -DEPTH_OPTICAL_FRAME = "CameraDepth_optical_frame" - class RosWrapper: """ @@ -65,9 +61,6 @@ def __init__(self): self.spin_thread = None self._wrapper_termination = False self.image_bridge = CvBridge() - self.front_info_msg = dict() - self.bottom_info_msg = dict() - self.depth_info_msg = dict() self.roslauncher = None self.transform_broadcaster = tf2_ros.TransformBroadcaster() atexit.register(self.stopWrapper) @@ -251,7 +244,7 @@ def _broadcastCamera(self, camera, image_publisher, info_publisher): image_msg = self.image_bridge.cv2_to_imgmsg(frame) image_msg.header.frame_id = camera.getCameraLink().getName() - # Check if the retrieved image is RGB or a depth image + # Check if the retrieved image is RGB or a depth image if isinstance(camera, CameraDepth): image_msg.encoding = "16UC1" else: @@ -409,7 +402,7 @@ def _broadcastCamera(self): self.front_cam_pub, self.front_info_pub) - elif self.robot.camera_dict[NaoVirtual.ID_CAMERA_BOTTOM].isActive(): + if self.robot.camera_dict[NaoVirtual.ID_CAMERA_BOTTOM].isActive(): RosWrapper._broadcastCamera( self, self.robot.camera_dict[NaoVirtual.ID_CAMERA_BOTTOM], @@ -537,14 +530,14 @@ def _broadcastCamera(self): self.right_cam_pub, self.right_info_pub) - elif self.robot.camera_dict[RomeoVirtual.ID_CAMERA_LEFT].isActive(): + if self.robot.camera_dict[RomeoVirtual.ID_CAMERA_LEFT].isActive(): RosWrapper._broadcastCamera( self, self.robot.camera_dict[RomeoVirtual.ID_CAMERA_LEFT], self.left_cam_pub, self.left_info_pub) - elif self.robot.camera_dict[RomeoVirtual.ID_CAMERA_DEPTH].isActive(): + if self.robot.camera_dict[RomeoVirtual.ID_CAMERA_DEPTH].isActive(): RosWrapper._broadcastCamera( self, self.robot.camera_dict[RomeoVirtual.ID_CAMERA_DEPTH], @@ -735,14 +728,14 @@ def _broadcastCamera(self): self.front_cam_pub, self.front_info_pub) - elif self.robot.camera_dict[PepperVirtual.ID_CAMERA_BOTTOM].isActive(): + if self.robot.camera_dict[PepperVirtual.ID_CAMERA_BOTTOM].isActive(): RosWrapper._broadcastCamera( self, self.robot.camera_dict[PepperVirtual.ID_CAMERA_BOTTOM], self.bottom_cam_pub, self.bottom_info_pub) - elif self.robot.camera_dict[PepperVirtual.ID_CAMERA_DEPTH].isActive(): + if self.robot.camera_dict[PepperVirtual.ID_CAMERA_DEPTH].isActive(): RosWrapper._broadcastCamera( self, self.robot.camera_dict[PepperVirtual.ID_CAMERA_DEPTH], diff --git a/qibullet/simulation_manager.py b/qibullet/simulation_manager.py index 6ab6441..cc944af 100644 --- a/qibullet/simulation_manager.py +++ b/qibullet/simulation_manager.py @@ -133,7 +133,7 @@ def spawnPepper( robot is supposed to be spawned translation - List containing 3 elements, the spawning translation [x, y, z] in the WORLD frame - quaternions - List containing 4 elements, the spawning rotation as + quaternion - List containing 4 elements, the spawning rotation as a quaternion [x, y, z, w] in the WORLD frame spawn_ground_plane - If True, the pybullet_data ground plane will be spawned @@ -168,7 +168,7 @@ def spawnNao( robot is supposed to be spawned translation - List containing 3 elements, the spawning translation [x, y, z] in the WORLD frame - quaternions - List containing 4 elements, the spawning rotation as + quaternion - List containing 4 elements, the spawning rotation as a quaternion [x, y, z, w] in the WORLD frame spawn_ground_plane - If True, the pybullet_data ground plane will be spawned @@ -202,7 +202,7 @@ def spawnRomeo( robot is supposed to be spawned translation - List containing 3 elements, the spawning translation [x, y, z] in the WORLD frame - quaternions - List containing 4 elements, the spawning rotation as + quaternion - List containing 4 elements, the spawning rotation as a quaternion [x, y, z, w] in the WORLD frame spawn_ground_plane - If True, the pybullet_data ground plane will be spawned diff --git a/setup.py b/setup.py index 8f38393..dce722d 100644 --- a/setup.py +++ b/setup.py @@ -86,7 +86,7 @@ def run(self): setuptools.setup( name="qibullet", - version="1.4.1", + version="1.4.2", author="Maxime Busy, Maxime Caniot", author_email="", description="Bullet-based simulation for SoftBank Robotics' robots", diff --git a/tests/base_test.py b/tests/base_test.py index 8240fd6..04bfdb1 100644 --- a/tests/base_test.py +++ b/tests/base_test.py @@ -180,12 +180,7 @@ def test_move_to_base_async(self): # Stop the async moveTo process before exitting the test, we don't want # the async process to parasite the other tests - PepperBaseTest.robot.moveTo( - 0, - 0, - 0, - frame=PepperVirtual.FRAME_ROBOT, - _async=True) + PepperBaseTest.robot.stopMove() # Sleep to ensure that the previous snippet has been taken into account # and that the moveTo async process is stopped. diff --git a/tests/joint_test.py b/tests/joint_test.py index 6aac013..36765e4 100644 --- a/tests/joint_test.py +++ b/tests/joint_test.py @@ -50,6 +50,16 @@ def test_joints_characteristics(self): self.assertNotEqual(dummy_joint_first, dummy_joint_second) + def test_get_joint(self): + """ + Test the @getJoint method + """ + for key, value in JointTest.robot.joint_dict.items(): + self.assertEqual(JointTest.robot.getJoint(key), value) + + with self.assertRaises(KeyError): + JointTest.robot.getJoint("Non_existent_joint") + def test_set_angles(self): """ Test the set @setAngles method @@ -173,6 +183,9 @@ def tearDownClass(cls): def test_joints_characteristics(self): JointTest.test_joints_characteristics(self) + def test_get_joint(self): + JointTest.test_get_joint(self) + def test_set_angles(self): JointTest.test_set_angles(self) @@ -218,6 +231,9 @@ def tearDownClass(cls): def test_joints_characteristics(self): JointTest.test_joints_characteristics(self) + def test_get_joint(self): + JointTest.test_get_joint(self) + def test_set_angles(self): JointTest.test_set_angles(self) @@ -263,6 +279,9 @@ def tearDownClass(cls): def test_joints_characteristics(self): JointTest.test_joints_characteristics(self) + def test_get_joint(self): + JointTest.test_get_joint(self) + def test_set_angles(self): JointTest.test_set_angles(self) diff --git a/tests/laser_test.py b/tests/laser_test.py index f5dbb24..798ceb1 100644 --- a/tests/laser_test.py +++ b/tests/laser_test.py @@ -38,7 +38,7 @@ def test_laser_robot_model(self): robot are the same """ self.assertEqual( - PepperLaserTest.laser_manager.getRobotModel(), + PepperLaserTest.robot.laser_manager.getRobotModel(), PepperLaserTest.robot.getRobotModel()) def test_lasers_data(self): diff --git a/tests/link_test.py b/tests/link_test.py index b8a9ab4..cc60a49 100644 --- a/tests/link_test.py +++ b/tests/link_test.py @@ -33,6 +33,29 @@ def test_links_characteristics(self): list(LinkTest.robot.link_dict.values())[0], list(LinkTest.robot.link_dict.values())[1]) + def test_get_link(self): + """ + Test the @getLink method + """ + for key, value in LinkTest.robot.link_dict.items(): + self.assertEqual(LinkTest.robot.getLink(key), value) + + with self.assertRaises(KeyError): + LinkTest.robot.getLink("non_existent_link") + + def test_get_link_position(self): + """ + Test the @getLinkPosition method + """ + # Only test that the values returned by getLinkPosition are indeed a + # 3D translation and a 4D orientation (quaternion) + translation, orientation = LinkTest.robot.getLinkPosition("torso") + self.assertEqual(len(translation), 3) + self.assertEqual(len(orientation), 4) + + with self.assertRaises(KeyError): + LinkTest.robot.getLinkPosition("non_existent_link") + class PepperLinkTest(LinkTest): """ @@ -63,6 +86,12 @@ def tearDownClass(cls): def test_links_characteristics(self): LinkTest.test_links_characteristics(self) + def test_get_link(self): + LinkTest.test_get_link(self) + + def test_get_link_position(self): + LinkTest.test_get_link_position(self) + class NaoLinkTest(LinkTest): """ @@ -93,6 +122,12 @@ def tearDownClass(cls): def test_links_characteristics(self): LinkTest.test_links_characteristics(self) + def test_get_link(self): + LinkTest.test_get_link(self) + + def test_get_link_position(self): + LinkTest.test_get_link_position(self) + class RomeoLinkTest(LinkTest): """ @@ -123,6 +158,12 @@ def tearDownClass(cls): def test_links_characteristics(self): LinkTest.test_links_characteristics(self) + def test_get_link(self): + LinkTest.test_get_link(self) + + def test_get_link_position(self): + LinkTest.test_get_link_position(self) + if __name__ == "__main__": unittest.main()