sdurwsim module

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

Bases: object

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

The membership flag

class sdurwsim.sdurwsim.AssemblySimulatorPtr(*args)

Bases: object

__init__(*args)
deref()
getDeref()
getMaxSimTime()
getResults()
isNull()
isRunning()
isShared()
setMaxSimTime(maxTime)
setStoreExecutionData(enable)
setTasks(tasks)
start(task=0)
stopCancelCurrent()
stopFinishCurrent()
storeExecutionData()
property thisown

The membership flag

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

Bases: object

__init__(*args, **kwargs)
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.sdurwsim.BodyController(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)
property thisown

The membership flag

class sdurwsim.sdurwsim.BodyControllerPtr(*args)

Bases: object

__init__(*args)
deref()
getDeref()
isNull()
isShared()
property thisown

The membership flag

class sdurwsim.sdurwsim.BodyInfo

Bases: object

__init__()
property inertia
property integratorType
property mass
property masscenter
property material
property objectType
property thisown

The membership flag

class sdurwsim.sdurwsim.BodyPtr(*args)

Bases: object

__init__(*args)
addForce(force, state)
addForceToPos(force, pos, state)
addForceW(force, state)
addForceWToPosW(force, pos, state)
addTorque(t, state)
addTorqueW(t, state)
calcEnergy(state)
deref()
getBodyFrame()
getDeref()
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.sdurwsim.BodyPtrVector(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)
at(i)
back()
clear()

Remove all items from list.

empty()
front()
pop_back()
push_back(elem)
size()
class sdurwsim.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)
getBody1()
getBody2()
getDOF()
getDOFAngular()
getDOFLinear()
getSpringParams()
getTransform()
getType()
setSpringParams(params)
setTransform(parentTconstraint)
property thisown

The membership flag

class sdurwsim.sdurwsim.ConstraintPtr(*args)

Bases: object

__init__(*args)
deref()
getBody1()
getBody2()
getDOF()
getDOFAngular()
getDOFLinear()
getDeref()
getSpringParams()
getTransform()
getType()
isNull()
isShared()
setSpringParams(params)
setTransform(parentTconstraint)
property thisown

The membership flag

class sdurwsim.sdurwsim.ConstraintPtrVector(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)
at(i)
back()
clear()

Remove all items from list.

empty()
front()
pop_back()
push_back(elem)
size()
class sdurwsim.sdurwsim.Contact

Bases: object

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

The membership flag

class sdurwsim.sdurwsim.ContactDetector(workcell)

Bases: object

__init__(workcell)
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.sdurwsim.ContactDetectorData(*args)

Bases: object

__init__(*args)
clear()
property thisown

The membership flag

class sdurwsim.sdurwsim.ContactDetectorDataPtr(*args)

Bases: object

__init__(*args)
clear()
deref()
getDeref()
isNull()
isShared()
property thisown

The membership flag

class sdurwsim.sdurwsim.ContactDetectorPtr(*args)

Bases: object

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

The membership flag

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

Bases: object

__init__(*args)
clear()
getSize()
remove(index)
property thisown

The membership flag

class sdurwsim.sdurwsim.ContactDetectorTrackingPtr(*args)

Bases: object

__init__(*args)
clear()
deref()
getDeref()
getSize()
isNull()
isShared()
remove(index)
property thisown

The membership flag

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

Bases: object

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

The membership flag

class sdurwsim.sdurwsim.ContactStrategyPtr(*args)

Bases: object

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

The membership flag

class sdurwsim.sdurwsim.ContactVector(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)
at(i)
back()
clear()

Remove all items from list.

empty()
front()
pop_back()
push_back(elem)
size()
class sdurwsim.sdurwsim.DynamicDevice(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)
getBase()
getJointVelocities(state)
getKinematicModel()
getQ(state)
setJointVelocities(vel, state)
setQ(q, state)
property thisown

The membership flag

class sdurwsim.sdurwsim.DynamicDevicePtr(*args)

Bases: object

__init__(*args)
deref()
getBase()
getDeref()
getJointVelocities(state)
getKinematicModel()
getQ(state)
isNull()
isShared()
setJointVelocities(vel, state)
setQ(q, state)
property thisown

The membership flag

class sdurwsim.sdurwsim.DynamicDevicePtrVector(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)
at(i)
back()
clear()

Remove all items from list.

empty()
front()
pop_back()
push_back(elem)
size()
class sdurwsim.sdurwsim.DynamicSimulator(*args, **kwargs)

Bases: Simulator

__init__(*args, **kwargs)
addBody(body, state)
addController(controller)
addDevice(dev, state)
addSensor(sensor, state)
attach(b1, b2)
detach(b1, b2)
disableBodyControl(*args)
exitPhysics()
getBodyController()
getPropertyMap()

get propertymap of this simulator

getSensors()
getState()

get current state of simulator :rtype: State :return: current state of simulator

getTime()

gets the the current simulated time

init(state)

initialize simulator with state variables

static make(dworkcell, pengine)
removeController(controller)
removeSensor(sensor)
reset(state)

reset velocity and acceleration of all bodies to 0. And sets the position of all bodies to that described in state

setDynamicsEnabled(body, enabled)
setEnabled(*args)

Enables or disables simulation of a frame Conditional comment: :type frame: rw::core::Ptr< rw::kinematics::Frame > :param frame: [in] :type enabled: boolean :param enabled: [in] End of conditional comment.

setTarget(*args)
step(dt)

take a step forward in time with timestep dt. :type dt: float :param dt: [in] the time step

property thisown

The membership flag

class sdurwsim.sdurwsim.DynamicSimulatorPtr(*args)

Bases: object

__init__(*args)
addBody(body, state)
addController(controller)
addDevice(dev, state)
addSensor(sensor, state)
attach(b1, b2)
deref()
detach(b1, b2)
disableBodyControl(*args)
exitPhysics()
getBodyController()
getController(name)
getDeref()
getPropertyMap()
getSensor(name)
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.sdurwsim.DynamicSimulator_make(dworkcell, pengine)
class sdurwsim.sdurwsim.DynamicWorkCell(*args)

Bases: object

BodyAddedEvent = 2
ConstraintAddedEvent = 1
ControllerAddedEvent = 4
DeviceAddedEvent = 3
GravityChangedEvent = 0
SensorAddedEvent = 5
__init__(*args)
addBody(body)
addConstraint(constraint)
addController(manipulator)
addDevice(device)
addSensor(sensor)
changedEvent()
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()
getContactData(*args)
getControllers()
getDynamicDevices()
getEngineSettings(*args)
getGravity()
getMaterialData(*args)
getSensors()
getWorkCell()
getWorkcell()
getWorldDimension()
inDevice(body)
remove(body)
setCollisionMargin(margin)
setGravity(*args)
property thisown

The membership flag

class sdurwsim.sdurwsim.DynamicWorkCellCPtr(*args)

Bases: object

__init__(*args)
deref()
findBody(name)
findConstraint(name)
findController(name)
findDevice(name)
findSensor(name)
getBodies()
getBody(*args)
getConstraints()
getContactData(*args)
getControllers()
getDeref()
getDynamicDevices()
getEngineSettings(*args)
getGravity()
getMaterialData(*args)
getSensors()
getWorkCell()
getWorkcell()
inDevice(body)
isNull()
isShared()
property thisown

The membership flag

class sdurwsim.sdurwsim.DynamicWorkCellLoader

Bases: object

__init__()
static load(filename)
property thisown

The membership flag

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

Bases: object

__init__(*args)
addBody(body)
addConstraint(constraint)
addController(manipulator)
addDevice(device)
addSensor(sensor)
changedEvent()
cptr()
deref()
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()
getContactData(*args)
getControllers()
getDeref()
getDynamicDevices()
getEngineSettings(*args)
getGravity()
getMaterialData(*args)
getSensors()
getWorkCell()
getWorkcell()
getWorldDimension()
inDevice(body)
isNull()
isShared()
remove(body)
setCollisionMargin(margin)
setGravity(*args)
property thisown

The membership flag

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

Bases: Body

__init__(*args, **kwargs)
property thisown

The membership flag

class sdurwsim.sdurwsim.FixedBodyPtr(*args)

Bases: object

__init__(*args)
addForce(force, state)
addForceToPos(force, pos, state)
addForceW(force, state)
addForceWToPosW(force, pos, state)
addTorque(t, state)
addTorqueW(t, state)
calcEnergy(state)
deref()
getBodyFrame()
getDeref()
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.sdurwsim.FixedBodyPtrVector(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)
at(i)
back()
clear()

Remove all items from list.

empty()
front()
pop_back()
push_back(elem)
size()
class sdurwsim.sdurwsim.GraspTaskSimulator(dwc, nrThreads=1)

Bases: object

__init__(dwc, nrThreads=1)
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.sdurwsim.GraspTaskSimulatorPtr(*args)

Bases: object

__init__(*args)
deref()
getDeref()
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.sdurwsim.KinematicBody(*args, **kwargs)

Bases: Body

__init__(*args, **kwargs)
property thisown

The membership flag

class sdurwsim.sdurwsim.KinematicBodyPtr(*args)

Bases: object

__init__(*args)
addForce(force, state)
addForceToPos(force, pos, state)
addForceW(force, state)
addForceWToPosW(force, pos, state)
addTorque(t, state)
addTorqueW(t, state)
calcEnergy(state)
deref()
getBodyFrame()
getDeref()
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.sdurwsim.KinematicBodyPtrVector(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)
at(i)
back()
clear()

Remove all items from list.

empty()
front()
pop_back()
push_back(elem)
size()
class sdurwsim.sdurwsim.ODESimulator(*args)

Bases: PhysicsEngine

WorldFast1 = 2
WorldQuickStep = 1
WorldStep = 0
__init__(*args)
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.sdurwsim.ODESimulatorPtr(*args)

Bases: object

__init__(*args)
addBody(body, state)
addController(controller)
addDevice(dev, state)
addEmulatedContact(pos, force, normal, b)
addSensor(sensor, state)
attach(b1, b2)
deref()
detach(b1, b2)
disableCollision(b1, b2)
emitPropertyChanged()
enableCollision(b1, b2)
exitPhysics()
getContactCnt()
getDeref()
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.sdurwsim.PDController(*args)

Bases: object

__init__(*args)
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.sdurwsim.PDControllerPtr(*args)

Bases: object

__init__(*args)
deref()
getControlModes()
getController()
getControllerName()
getDeref()
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.sdurwsim.PDParam(*args)

Bases: object

property D
property P
__init__(*args)
property thisown

The membership flag

class sdurwsim.sdurwsim.PDParamVector(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)
at(i)
back()
clear()

Remove all items from list.

empty()
front()
pop_back()
push_back(elem)
size()
class sdurwsim.sdurwsim.PhysicsEngine(*args, **kwargs)

Bases: object

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

Bases: object

__init__(*args, **kwargs)
static getEngineIDs()
static hasEngineID(engineID)
static makePhysicsEngine(*args)
property thisown

The membership flag

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

Bases: object

__init__(*args)
addBody(body, state)
addController(controller)
addDevice(dev, state)
addSensor(sensor, state)
attach(b1, b2)
deref()
detach(b1, b2)
emitPropertyChanged()
exitPhysics()
getDeref()
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.sdurwsim.PoseController(*args, **kwargs)

Bases: object

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

The membership flag

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

Bases: Body

__init__(*args, **kwargs)
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.sdurwsim.RigidBodyPtr(*args)

Bases: object

__init__(*args)
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)
deref()
getAngVel(state)
getAngVelW(state)
getBodyFrame()
getBodyInertia()
getBodyInertiaInv()
getDeref()
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.sdurwsim.RigidBodyPtrVector(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)
at(i)
back()
clear()

Remove all items from list.

empty()
front()
pop_back()
push_back(elem)
size()
class sdurwsim.sdurwsim.RigidDevice(*args, **kwargs)

Bases: DynamicDevice

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

Bases: object

__init__(*args)
deref()
getBase()
getDeref()
getJointDevice()
getJointVelocities(state)
getJointVelocity(i, state)
getKinematicModel()
getMotorForceLimits()
getMotorMode(i, state)
getMotorTarget(i, state)
getMotorTargets(state)
getQ(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)
property thisown

The membership flag

class sdurwsim.sdurwsim.RigidDevicePtrVector(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)
at(i)
back()
clear()

Remove all items from list.

empty()
front()
pop_back()
push_back(elem)
size()
class sdurwsim.sdurwsim.SerialDeviceController(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)
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.sdurwsim.SerialDeviceControllerPtr(*args)

Bases: object

__init__(*args)
deref()
getControllerName()
getDeref()
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.sdurwsim.SimulatedFTSensor(name, body, body1, frame=0)

Bases: object

__init__(name, body, body1, frame=0)
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.sdurwsim.SimulatedFTSensorPtr(*args)

Bases: object

__init__(*args)
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)
deref()
getBody1()
getBody2()
getDeref()
getForce(state)
getSensorFrame()
getTorque(state)
getTransform()
isNull()
isShared()
reset(state)
property thisown

The membership flag

update(info, state)
class sdurwsim.sdurwsim.SpringParams

Bases: object

__init__()
property compliance
property damping
property enabled
property thisown

The membership flag

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

Bases: DynamicDevice

__init__(*args, **kwargs)
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.sdurwsim.SuctionCupCPtr(*args)

Bases: object

__init__(*args)
deref()
getDeref()
isNull()
isShared()
property thisown

The membership flag

class sdurwsim.sdurwsim.SuctionCupPtr(*args)

Bases: object

__init__(*args)
addForceTorque(forceTorque, state)
cptr()
deref()
getBase()
getBaseBody()
getContactBody(state)
getDeref()
getEndBody()
getHeight()
getJointVelocities(state)
getKinematicModel()
getOffset()
getPressure(state)
getQ(state)
getRadius()
getSpringParamsClosed()
getSpringParamsOpen()
isClosed(state)
isNull()
isShared()
setClosed(closed, state)
setContactBody(b, state)
setJointVelocities(vel, state)
setPressure(pressure, state)
setQ(q, state)
property thisown

The membership flag

class sdurwsim.sdurwsim.ThreadSimulator(simulator, state)

Bases: object

__init__(simulator, state)
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.sdurwsim.ThreadSimulatorPtr(*args)

Bases: object

__init__(*args)
deref()
getDeref()
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.sdurwsim.ThreadSimulatorPtrVector(arg1=None, arg2=None)

Bases: list

This class is deprecated and is basically a wrapper around a list

__init__(arg1=None, arg2=None)
at(i)
back()
clear()

Remove all items from list.

empty()
front()
pop_back()
push_back(elem)
size()
class sdurwsim.sdurwsim.ThreadSimulatorStepCallback(cb)

Bases: object

__init__(cb)
property thisown

The membership flag

class sdurwsim.sdurwsim.WorkCellDimension(c, box)

Bases: object

__init__(c, box)
property boxDim
property center
property thisown

The membership flag

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