scenario.bindings¶

scenario.bindings.core¶

class scenario.bindings.core.Array3d(*args)¶

Bases: object

back()¶

begin()¶

empty()¶

end()¶

fill(u)¶

front()¶

iterator()¶

rbegin()¶

rend()¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class scenario.bindings.core.Array4d(*args)¶

Bases: object

back()¶

begin()¶

empty()¶

end()¶

fill(u)¶

front()¶

iterator()¶

rbegin()¶

rend()¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class scenario.bindings.core.Array6d(*args)¶

Bases: object

back()¶

begin()¶

empty()¶

end()¶

fill(u)¶

front()¶

iterator()¶

rbegin()¶

rend()¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class scenario.bindings.core.Contact¶

Bases: object

property body_a¶

property body_b¶

property points¶

property thisown¶: The membership flag

class scenario.bindings.core.ContactPoint¶

Bases: object

property depth¶

property force¶

property normal¶

property position¶

property thisown¶: The membership flag

property torque¶

class scenario.bindings.core.Joint(*args, **kwargs)¶

Bases: object

acceleration(dof=0)¶

Get the acceleration of a joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid.
Return type: float
Returns: The acceleration of the joint DOF.

acceleration_target(dof=0)¶

Get the active acceleration target of the joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid or if no acceleration target was set.
Return type: float
Returns: The acceleration target of the joint DOF.

control_mode()¶

Get the active joint control mode.

Return type: int
Returns: The active joint control mode.

controller_period()¶

Get the period of the controller, if any.

The controller period is a model quantity. If no controller is active, infinity is returned.

Return type: float
Returns: The the controller period.

coulomb_friction()¶

Get the Coulomb friction of the joint.

If \(K_c\) is the Coulomb friction parameter, and \(\dot{q}\) the joint velocity, the corresponding torque is often modelled as:

\(\tau_{static} = sign(\dot{q}) K_c\)

Return type: float
Returns: The Coulomb friction parameter of the joint.

dofs()¶

Get the number of degrees of freedom of the joint.

Return type: int
Returns: The number of DOFs of the joint.

enable_history_of_applied_joint_forces(enable=True, max_history_size=100)¶

Enable the history of joint forces.

Parameters

enable (boolean) – True to enable, false to disable.
maxHistorySize (int) – The size of the history window.

Return type

boolean

Returns

True for success, false otherwise.

generalized_force(dof=0)¶

Get the generalized force of a joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid.
Return type: float
Returns: The generalized force of the joint DOF.

generalized_force_target(dof=0)¶

Get the active generalized force target of the joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid or if no generalized force target was set.
Return type: float
Returns: The generalized force target of the joint DOF.

history_of_applied_joint_forces()¶

Get the history of applied joint forces.

The vector is populated with #DoFs values at each physics step.

Return type: Tuple[float]
Returns: The vector containing the history of joint forces.

history_of_applied_joint_forces_enabled()¶

Check if the history of applied joint forces is enabled.

Return type: boolean
Returns: True if the history is enabled, false otherwise.

joint_acceleration()¶

Get the acceleration of the joint.

Return type: Tuple[float]
Returns: The acceleration of the joint.

joint_acceleration_target()¶

Get the active acceleration target.

Return type: Tuple[float]
Returns: The acceleration target of the joint.

joint_generalized_force()¶

Get the generalized force of the joint.

Return type: Tuple[float]
Returns: The generalized force of the joint.

joint_generalized_force_target()¶

Get the active generalized force target.

Return type: Tuple[float]
Returns: The generalized force target of the joint.

joint_max_generalized_force()¶

Get the maximum generalized force that could be applied to the joint.

Return type: Tuple[float]
Returns: The maximum generalized force of the joint.

joint_position()¶

Get the position of the joint.

Return type: Tuple[float]
Returns: The position of the joint.

joint_position_limit()¶

Get the position limits of the joint.

Return type: JointLimit
Returns: The position limits of the joint.

joint_position_target()¶

Get the active position target.

Return type: Tuple[float]
Returns: The position target of the joint.

joint_velocity()¶

Get the velocity of the joint.

Return type: Tuple[float]
Returns: The velocity of the joint.

joint_velocity_limit()¶

Get the velocity limits of the joint.

Return type: JointLimit
Returns: The velocity limits of the joint.

joint_velocity_target()¶

Get the active velocity target.

Return type: Tuple[float]
Returns: The velocity target of the joint.

max_generalized_force(dof=0)¶

Get the maximum generalized force that could be applied to a joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid.
Return type: float
Returns: The maximum generalized force of the joint DOF.

name(scoped=False)¶

Get the name of the joint.

Parameters: scoped (boolean) – If true, the scoped name of the joint is returned.
Return type: string
Returns: The name of the joint.

pid()¶

Get the PID parameters of the joint.

If no PID parameters have been set, the default parameters are returned.

Return type: PID
Returns: The joint PID parameters.

position(dof=0)¶

Get the position of a joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid.
Return type: float
Returns: The position of the joint DOF.

position_limit(dof=0)¶

Get the position limits of a joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid.
Return type: Limit
Returns: The position limits of the joint DOF.

position_target(dof=0)¶

Get the active position target of the joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid or if no position target was set.
Return type: float
Returns: The position target of the joint DOF.

set_acceleration_target(acceleration, dof=0)¶

Set the acceleration target of a joint DOF.

The target is processed by a joint controller, if enabled.

Parameters

acceleration (float) – The acceleration target of the joint DOF.
dof (int) – The index of the DOF.

Return type

boolean

Returns

True for success, false otherwise.

set_control_mode(mode)¶

Set the joint control mode.

Parameters: mode (int) – The desired control mode.
Return type: boolean
Returns: True for success, false otherwise.

set_generalized_force_target(force, dof=0)¶

Set the generalized force target of a joint DOF.

The force is applied to the desired DOF. Note that if there’s friction or other loss components, the real joint force will differ.

Parameters

force (float) – The generalized force target of the joint DOF.
dof (int) – The index of the DOF.

Return type

boolean

Returns

True for success, false otherwise.

set_joint_acceleration_target(acceleration)¶

Set the acceleration target of the joint.

The target is processed by a joint controller, if enabled.

Parameters: acceleration (Tuple[float]) – A vector with the acceleration targets of the joint DOFs.
Return type: boolean
Returns: True for success, false otherwise.

set_joint_generalized_force_target(force)¶

Set the generalized force target of the joint.

Note that if there’s friction or other loss components, the real joint force will differ.

Parameters: force (Tuple[float]) – A vector with the generalized force targets of the joint DOFs.
Return type: boolean
Returns: True for success, false otherwise.

set_joint_max_generalized_force(max_force)¶

Set the maximum generalized force that can be applied to the joint.

This limit can be used to clip the force applied by joint controllers.

Parameters: maxForce (Tuple[float]) – A vector with the maximum generalized forces of the joint DOFs.
Return type: boolean
Returns: True for success, false otherwise.

set_joint_position_target(position)¶

Set the position target of the joint.

The target is processed by a joint controller, if enabled.

Parameters: position (Tuple[float]) – A vector with the position targets of the joint DOFs.
Return type: boolean
Returns: True for success, false otherwise.

set_joint_velocity_limit(max_velocity)¶

Set the maximum velocity of the joint.

This limit can be used to clip the velocity applied by joint controllers.

Parameters: maxVelocity (Tuple[float]) – A vector with the maximum velocity of the joint DOFs.
Return type: boolean
Returns: True for success, false otherwise.

set_joint_velocity_target(velocity)¶

Set the velocity target of the joint.

The target is processed by a joint controller, if enabled.

Parameters: velocity (Tuple[float]) – A vector with the velocity targets of the joint DOFs.
Return type: boolean
Returns: True for success, false otherwise.

set_max_generalized_force(max_force, dof=0)¶

Set the maximum generalized force that can be applied to a joint DOF.

This limit can be used to clip the force applied by joint controllers.

Parameters

maxForce (float) – The maximum generalized force.
dof (int) – The index of the DOF.

Return type

boolean

Returns

True for success, false otherwise.

set_pid(pid)¶

Set the PID parameters of the joint.

Parameters: pid (PID) – The desired PID parameters.
Return type: boolean
Returns: True for success, false otherwise.

set_position_target(position, dof=0)¶

Set the position target of a joint DOF.

The target is processed by a joint controller, if enabled.

Parameters

position (float) – The position target of the joint DOF.
dof (int) – The index of the DOF.

Raises

std::runtime_error if the DOF is not valid.

Return type

boolean

Returns

True for success, false otherwise.

set_velocity_limit(max_velocity, dof=0)¶

Set the maximum velocity of a joint DOF.

This limit can be used to clip the velocity applied by joint controllers.

Parameters

maxVelocity (float) – The maximum velocity.
dof (int) – The index of the DOF.

Return type

boolean

Returns

True for success, false otherwise.

set_velocity_target(velocity, dof=0)¶

Set the velocity target of a joint DOF.

The target is processed by a joint controller, if enabled.

Parameters

velocity (float) – The velocity target of the joint DOF.
dof (int) – The index of the DOF.

Return type

boolean

Returns

True for success, false otherwise.

property thisown¶: The membership flag

to_gazebo()¶

Return type: Union[ForwardRef, ForwardRef]

type()¶

Get the type of the joint.

Return type: int
Returns: The type of the joint.

valid()¶

Check if the joint is valid.

Return type: boolean
Returns: True if the joint is valid, false otherwise.

velocity(dof=0)¶

Get the velocity of a joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid.
Return type: float
Returns: The velocity of the joint DOF.

velocity_limit(dof=0)¶

Get the velocity limit of a joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid.
Return type: Limit
Returns: The velocity limit of the joint DOF.

velocity_target(dof=0)¶

Get the active velocity target of the joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid or if no velocity target was set.
Return type: float
Returns: The velocity target of the joint DOF.

viscous_friction()¶

Get the viscous friction of the joint.

If \(K_v\) is the viscous friction parameter, and \(\dot{q}\) the joint velocity, the corresponding torque is often modelled as:

\(\tau_{static} = K_v \dot{q}\)

Return type: float
Returns: The viscous friction parameter of the joint.

scenario.bindings.core.JointControlMode_force = 2¶: Marks the joint to be controlled in force. A Force joint receives generalized force references that are actuated by a force actuator. Depending on the active backend, the presence of friction and other loss components could be compensated.

scenario.bindings.core.JointControlMode_idle = 1¶: Marks the joint to be IDLE. An IDLE joint is equivalent to a joint controlled in Force with zero references. The joint shows only passive behaviour.

scenario.bindings.core.JointControlMode_invalid = 0¶: Marks the joint to have an invalid control mode.

scenario.bindings.core.JointControlMode_position = 5¶: Marks the joint to be controlled in position. A Position joint receives position references that are actuated using a PID controller.

scenario.bindings.core.JointControlMode_position_interpolated = 6¶: Marks the joint to be controlled in position with trajectory smoothing. A PositionInterpolated joint receives position references that are filtered to get a smooth trajectory. The resulting trajectory is then actuated using a position PID controller.

scenario.bindings.core.JointControlMode_velocity = 3¶: Marks the joint to be controlled in velocity. A Velocity joint receives velocity references that are actuated using a PID controller.

scenario.bindings.core.JointControlMode_velocity_follower_dart = 4¶: Marks the joint to follow precisely a velocity trajectory. A VelocityFollowerDart joint receives velocity references that are processed by the physics engine, which computes instantaneously the right force to apply to follow the desired trajectory. It works only with the DART physics engine.

class scenario.bindings.core.JointLimit(*args)¶

Bases: object

property max¶

property min¶

property thisown¶: The membership flag

class scenario.bindings.core.Limit(*args)¶

Bases: object

property max¶

property min¶

property thisown¶: The membership flag

class scenario.bindings.core.Link(*args, **kwargs)¶

Bases: object

body_angular_acceleration()¶

Get the angular body acceleration of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The angular body acceleration of the link.

body_angular_velocity()¶

Get the angular body velocity of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The angular body velocity of the link.

body_linear_acceleration()¶

Get the linear body acceleration of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The linear body acceleration of the link.

body_linear_velocity()¶

Get the linear body velocity of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The linear body velocity of the link.

contact_wrench()¶

Get the total wrench generated by the active contacts.

All the contact wrenches are composed to an equivalent wrench applied to the origin of the link frame and expressed in world coordinates.

Return type: Tuple[float, float, float, float, float, float]
Returns: The total wrench of the active contacts.

contacts()¶

Get the active contacts of the link.

Return type: Tuple[Contact]
Returns: The vector of active contacts.

contacts_enabled()¶

Check if the contact detection is enabled.

Return type: boolean
Returns: True if the contact detection is enabled, false otherwise.

enable_contact_detection(enable)¶

Enable the contact detection.

Parameters: enable (boolean) – True to enable the contact detection, false to disable.
Return type: boolean
Returns: True for success, false otherwise.

in_contact()¶

Check if the link has active contacts.

Return type: boolean
Returns: True if the link has at least one contact and contacts are enabled, false otherwise.

mass()¶

Get the mass of the link.

Return type: float
Returns: The mass of the link.

name(scoped=False)¶

Get the name of the link.

Parameters: scoped (boolean) – If true, the scoped name of the link is returned.
Return type: string
Returns: The name of the link.

orientation()¶

Get the orientation of the link.

The orientation is returned as a quaternion, which defines the rotation between the world frame and the link frame.

Return type: Tuple[float, float, float, float]
Returns: The wxyz quaternion defining the orientation if the link wrt the world frame.

position()¶

Get the position of the link.

The returned position is the position of the link frame, as it was defined in the model file, in world coordinates.

Return type: Tuple[float, float, float]
Returns: The cartesian position of the link frame in world coordinates.

property thisown¶: The membership flag

to_gazebo()¶

Return type: Union[ForwardRef, ForwardRef]

valid()¶

Check if the link is valid.

Return type: boolean
Returns: True if the link is valid, false otherwise.

world_angular_acceleration()¶

Get the angular mixed acceleration of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The angular mixed acceleration of the link.

world_angular_velocity()¶

Get the angular mixed velocity of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The angular mixed velocity of the link.

world_linear_acceleration()¶

Get the linear mixed acceleration of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The linear mixed acceleration of the link.

world_linear_velocity()¶

Get the linear mixed velocity of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The linear mixed velocity of the link.

class scenario.bindings.core.Model(*args, **kwargs)¶

Bases: object

base_body_angular_velocity()¶

Get the angular body velocity of the base link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The angular body velocity of the base link.

base_body_linear_velocity()¶

Get the linear body velocity of the base link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The linear body velocity of the base link.

base_frame()¶

Get the name of the model’s base frame.

By default, the base frame is typically the root of the kinematic tree of the model.

Return type: string
Returns: The name of the model’s base frame.

base_orientation()¶

Get the orientation of the base link.

Return type: Tuple[float, float, float, float]
Returns: The wxyz quaternion defining the orientation of the base link wrt the world frame.

base_orientation_target()¶

Get the orientation target of the base link.

Return type: Tuple[float, float, float, float]
Returns: The quaternion defining the orientation target of the base link.

base_position()¶

Get the position of the base link.

Return type: Tuple[float, float, float]
Returns: The position of the base link in world coordinates.

base_position_target()¶

Get the position target of the base link.

Return type: Tuple[float, float, float]
Returns: The position target of the base link.

base_world_angular_acceleration_target()¶

Get the mixed angular acceleration target of the base link.

Return type: Tuple[float, float, float]
Returns: The mixed angular acceleration target of the base link.

base_world_angular_velocity()¶

Get the angular mixed velocity of the base link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The angular mixed velocity of the base link.

base_world_angular_velocity_target()¶

Get the mixed angular velocity target of the base link.

Return type: Tuple[float, float, float]
Returns: The mixed angular velocity target of the base link.

base_world_linear_acceleration_target()¶

Get the mixed linear acceleration target of the base link.

Return type: Tuple[float, float, float]
Returns: The mixed linear acceleration target of the base link.

base_world_linear_velocity()¶

Get the linear mixed velocity of the base link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The linear mixed velocity of the base link.

base_world_linear_velocity_target()¶

Get the mixed linear velocity target of the base link.

Return type: Tuple[float, float, float]
Returns: The mixed linear velocity target of the base link.

contacts(*args)¶

Get the active contacts of the model.

Parameters: linkNames (Tuple[string]) – Optionally restrict the considered links.
Return type: Tuple[Contact]
Returns: A vector of contacts.

contacts_enabled()¶

Check if the contact detection is enabled model-wise.

Return type: boolean
Returns: True if the contact detection is enabled model-wise, false otherwise.

controller_period()¶

Get the controller period of the model.

If no controller has been enabled, infinite is returned.

Return type: float
Returns: The controller period of the model.

dofs(*args)¶

Get the degrees of freedom of the model.

Parameters: jointNames (Tuple[string]) – Optionally restrict the count to a subset of joints.
Return type: int
Returns: The number of degrees of freedom of the model.

enable_contacts(enable=True)¶

Enable the contact detection model-wise.

Parameters: enable (boolean) – True to enable the contact detection model-wise, false to disable.
Return type: boolean
Returns: True for success, false otherwise.

enable_history_of_applied_joint_forces(*args)¶

Enable logging the applied joint forces.

The output of joint controllers is often a torque. This method allows to log the force references that the controller sent to the joints. It is useful when the controller runs in its own thread at its own rate and the caller wants to extract the forces at a lower frequency.

Parameters

enable (boolean) – True to enable logging, false to disable.
maxHistorySizePerJoint (int) – Size of the logging window of each joint.
jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Return type

boolean

Returns

True for success, false otherwise.

get_joint(joint_name)¶

Get a joint belonging to the model.

Parameters: jointName (string) – The name of the joint.
Raises: std::runtime_error if the joint does not exist.
Return type: Joint
Returns: The desired joint.

get_link(link_name)¶

Get a link belonging to the model.

Parameters: linkName (string) – The name of the link.
Raises: std::runtime_error if the link does not exist.
Return type: Link
Returns: The desired link.

history_of_applied_joint_forces(*args)¶

Get the log of applied joint forces.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The entire window of applied joint forces.

Notes: Given a serialization, the window has DoFs * JointWindowSize elements. The elements are ordered per time steps, i.e. the first #DoFs elements refer to the oldest forces of the windows ordered with the active joint serialization.

If a joint has multiple DoFs, they are serialized contiguously.

history_of_applied_joint_forces_enabled(joint_names)¶

Check if logging the applied joint force is enabled.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Return type: boolean
Returns: True if the log is enabled, false otherwise.

joint_acceleration_targets(*args)¶

Get the acceleration targets of the joints.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The acceleration targets of the joints.

joint_accelerations(*args)¶

Get the joint accelerations.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The serialization of joint accelerations. The vector has as many elements as DoFs of the considered joints.

joint_generalized_force_targets(*args)¶

Get the generalized force targets of the joints.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The generalized force targets of the joints.

joint_generalized_forces(*args)¶

Get the joint generalized forces.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The serialization of joint forces. The vector has as many elements as DoFs of the considered joints.

joint_limits(*args)¶

Get the joint limits of the model.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Return type: JointLimit
Returns: The joint limits of the model. The vectors of the limit object have as many elements as DoFs of the considered joints.

joint_names(scoped=False)¶

Get the name of all the model’s joints.

Parameters: scoped (boolean) – Scope the joint names with the model name, (e.g. mymodel::joint1).
Return type: Tuple[string]
Returns: The list of joint names.

joint_position_targets(*args)¶

Get the position targets of the joints.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The position targets of the joints.

joint_positions(*args)¶

Get the joint positions.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The serialization of joint positions. The vector has as many elements as DoFs of the considered joints.

joint_velocities(*args)¶

Get the joint velocities.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The serialization of joint velocities. The vector has as many elements as DoFs of the considered joints.

joint_velocity_targets(*args)¶

Get the velocity targets of the joints.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The velocity targets of the joints.

joints(*args)¶

Get the joints of the model.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.
Return type: Tuple[Joint]
Returns: A vector of pointers to the joint objects.

link_names(scoped=False)¶

Get the name of all the model’s links.

Parameters: scoped (boolean) – Scope the link names with the model name (e.g. mymodel::link1).
Return type: Tuple[string]
Returns: The list of link names.

links(*args)¶

Get the links of the model.

Parameters: linkNames (Tuple[string]) – Optional vector of considered links. By default, Model::linkNames is used.
Return type: Tuple[Link]
Returns: A vector of pointers to the link objects.

links_in_contact()¶

Get the vector of links with active contacts with other bodies.

Return type: Tuple[string]
Returns: The vector of links in contact.

name()¶

Get the name of the model.

Return type: string
Returns: The name of the model.

nr_of_joints()¶

Get the number of joints of the model.

Return type: int
Returns: The number of joints.

nr_of_links()¶

Get the number of links of the model.

Return type: int
Returns: The number of links.

set_base_orientation_target(orientation)¶

Set the orientation target of the base link.

Parameters: orientation (Tuple[float, float, float, float]) – The wxyz quaternion defining the orientation target of the base link wrt the world frame.
Return type: boolean
Returns: True for success, false otherwise.

set_base_pose_target(position, orientation)¶

Set the pose target of the base link.

Parameters

position (Tuple[float, float, float]) – The position target of the base link in world coordinates.
orientation (Tuple[float, float, float, float]) – The wxyz quaternion defining the orientation target of the base link wrt the world frame.

Return type

boolean

Returns

True for success, false otherwise.

set_base_position_target(position)¶

Set the position target of the base link.

Parameters: position (Tuple[float, float, float]) – The position target of the base link in world coordinates.
Return type: boolean
Returns: True for success, false otherwise.

set_base_world_angular_acceleration_target(angular)¶

Set the mixed angular acceleration target of the base link.

Parameters: angular (Tuple[float, float, float]) – The mixed angular acceleration target of the base link.
Return type: boolean
Returns: True for success, false otherwise.

set_base_world_angular_velocity_target(angular)¶

Set the mixed angular velocity target of the base link.

Parameters: angular (Tuple[float, float, float]) – The mixed angular velocity target of the base link.
Return type: boolean
Returns: True for success, false otherwise.

set_base_world_linear_acceleration_target(linear)¶

Set the mixed linear acceleration target of the base link.

Parameters: linear (Tuple[float, float, float]) – The mixed linear acceleration target of the base link.
Return type: boolean
Returns: True for success, false otherwise.

set_base_world_linear_velocity_target(linear)¶

Set the mixed linear velocity target of the base link.

Parameters: linear (Tuple[float, float, float]) – The mixed linear velocity target of the base link.
Return type: boolean
Returns: True for success, false otherwise.

set_base_world_velocity_target(linear, angular)¶

Set the mixed velocity target of the base link.

Parameters

linear (Tuple[float, float, float]) – The mixed linear velocity target of the base link.
angular (Tuple[float, float, float]) – The mixed angular velocity target of the base link.

Return type

boolean

Returns

True for success, false otherwise.

set_controller_period(period)¶

Set the controller period of the model.

This controller period is used by PIDs and custom controller. If it is smaller than the physics step, it is treated as 0.

Parameters: period (float) – The desired controller period.
Return type: boolean
Returns: True for success, false otherwise.

set_joint_acceleration_targets(*args)¶

Set the acceleration targets of the joints.

Parameters

accelerations (Tuple[float]) – The vector with the joint acceleration targets. It must have as many elements as the considered joint DoFs.
jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.

Return type

boolean

Returns

True for success, false otherwise.

set_joint_control_mode(*args)¶

Set the control mode of model joints.

Parameters

mode (int) – The desired joint control mode.
jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Return type

boolean

Returns

True for success, false otherwise.

set_joint_generalized_force_targets(*args)¶

Set the generalized force targets of the joints.

Parameters

forces (Tuple[float]) – The vector with the joint generalized force targets. It must have as many elements as the considered joint DoFs.
jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.

Return type

boolean

Returns

True for success, false otherwise.

set_joint_position_targets(*args)¶

Set the position targets of the joints.

Parameters

positions (Tuple[float]) – The vector with the joint position targets. It must have as many elements as the considered joint DoFs.
jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.

Return type

boolean

Returns

True for success, false otherwise.

set_joint_velocity_targets(*args)¶

Set the velocity targets of the joints.

Parameters

velocities (Tuple[float]) – The vector with the joint velocity targets. It must have as many elements as the considered joint DoFs.
jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.

Return type

boolean

Returns

True for success, false otherwise.

property thisown¶: The membership flag

to_gazebo()¶

Return type: Union[ForwardRef, ForwardRef]

total_mass(*args)¶

Get the total mass of the model.

Parameters: linkNames (Tuple[string]) – Optionally restrict the count to a subset of links.
Return type: float
Returns: The total mass of the model.

valid()¶

Check if the model is valid.

Return type: boolean
Returns: True if the model is valid, false otherwise.

class scenario.bindings.core.PID(*args)¶

Bases: object

property cmd_max¶

property cmd_min¶

property cmd_offset¶

property d¶

property i¶

property i_max¶

property i_min¶

property p¶

property thisown¶: The membership flag

class scenario.bindings.core.Pose(*args)¶

Bases: object

static identity()¶

property orientation¶

property position¶

property thisown¶: The membership flag

class scenario.bindings.core.PosePair(*args)¶

Bases: object

property first¶

property second¶

property thisown¶: The membership flag

scenario.bindings.core.Pose_identity()¶

class scenario.bindings.core.SwigPyIterator(*args, **kwargs)¶

Bases: object

advance(n)¶

copy()¶

decr(n=1)¶

distance(x)¶

equal(x)¶

incr(n=1)¶

next()¶

previous()¶

property thisown¶: The membership flag

value()¶

class scenario.bindings.core.VectorD(*args)¶

Bases: object

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class scenario.bindings.core.VectorF(*args)¶

Bases: object

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class scenario.bindings.core.VectorI(*args)¶

Bases: object

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class scenario.bindings.core.VectorOfContactPoints(*args)¶

Bases: object

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class scenario.bindings.core.VectorOfContacts(*args)¶

Bases: object

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class scenario.bindings.core.VectorOfJoints(*args)¶

Bases: object

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class scenario.bindings.core.VectorOfLinks(*args)¶

Bases: object

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class scenario.bindings.core.VectorS(*args)¶

Bases: object

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class scenario.bindings.core.VectorU(*args)¶

Bases: object

append(x)¶

assign(n, x)¶

back()¶

begin()¶

capacity()¶

clear()¶

empty()¶

end()¶

erase(*args)¶

front()¶

get_allocator()¶

insert(*args)¶

iterator()¶

pop()¶

pop_back()¶

push_back(x)¶

rbegin()¶

rend()¶

reserve(n)¶

resize(*args)¶

size()¶

swap(v)¶

property thisown¶: The membership flag

class scenario.bindings.core.World(*args, **kwargs)¶

Bases: object

get_model(model_name)¶

Get a model part of the world.

Parameters: modelName (string) – The name of the model to get.
Return type: Model
Returns: The model if it is part of the world, nullptr otherwise.

gravity()¶: Get the gravity vector. :rtype: Tuple[float, float, float] :return: The gravity vector.

model_names()¶

Get the name of the models that are part of the world.

Return type: Tuple[string]
Returns: The list of model names.

models(*args)¶

Get the models of the world.

Parameters: modelNames (Tuple[string]) – Optional vector of considered models. By default, World::modelNames is used.
Return type: std::vector< scenario::core::ModelPtr,std::allocator< scenario::core::ModelPtr > >
Returns: A vector of pointers to the model objects.

name()¶

Get the name of the world.

Return type: string
Returns: The name of the world.

property thisown¶: The membership flag

time()¶

Get the simulated time.

Notes: A physics plugin need to be part of the simulation in order to make the time flow.

Return type: float
Returns: The simulated time.

to_gazebo()¶

Return type: Union[ForwardRef, ForwardRef]

valid()¶

Check if the world is valid.

Return type: boolean
Returns: True if the world is valid, false otherwise.

scenario.bindings.core.get_install_prefix()¶

Get the install prefix used by the CMake project.

Notes: It is defined only if the project is installed in Developer mode.

Return type: string
Returns: A string with the install prefix if the project is installed in Developer mode, an empty string otherwise.

scenario.bindings.gazebo¶

class scenario.bindings.gazebo.GazeboEntity(*args, **kwargs)¶

Bases: object

entity()¶

Return the entity of this object.

Return type: ignition::gazebo::Entity
Returns: The entity that corresponds to this object.

id()¶

Get the unique id of the object.

Notes: It might differ from the entity number since a multi-world setting with the same models inserted in the same order would result to same numbering.

Return type: int
Returns: The unique object id. Invalid objects return 0.

property thisown¶: The membership flag

class scenario.bindings.gazebo.GazeboSimulator(step_size=0.001, rtf=1.0, steps_per_run=1)¶

Bases: object

close()¶

Close the simulator and the GUI.

Return type: boolean
Returns: True for success, false otherwise.

get_world(*args)¶

Get a simulated world.

Parameters: worldName (string) – The name of the desired world.
Return type: World
Returns: The world object.

gui(verbosity=- 1)¶

Open the Ignition Gazebo GUI.

Parameters: verbosity (int) – Configure the verbosity of the GUI (0-4)
Return type: boolean
Returns: True for success, false otherwise.

initialize()¶

Initialize the simulator.

Return type: boolean
Returns: True for success, false otherwise.

initialized()¶

Check if the simulator has been initialized.

Return type: boolean
Returns: True if the simulator was initialized, false otherwise.

insert_world_from_sdf(*args)¶

Load a SDF world file.

Notes: If the world file is not passed, the default empty world is inserted. The default empty world does not have the ground plane nor any physics. Both can be added by operating on the World object.

This function can only be used while the simulator object is uninitialized.

Parameters

worldFile (string) – The path to the SDF world file.
worldName (string) – Optionally override the name of the world defined in the SDF world file.

Return type

boolean

Returns

True for success, false otherwise.

insert_worlds_from_sdf(*args)¶

Load a SDF world file containing multiple worlds.

Parameters

worldFile (string) – The path to the SDF world file.
worldNames (Tuple[string]) – Optionally override the names of the worlds defined in the SDF world file.

Return type

boolean

Returns

True for success, false otherwise.

Warning: This is an experimental feature. Multiworld simulations are only partially supported by Ignition Gazebo.

pause()¶

Pause the simulator.

Notes: This method is useful in non-deterministic mode, which is not currently supported.

Return type: boolean
Returns: True for success, false otherwise.

real_time_factor()¶

Get the desired real-time factor of the simulator.

Return type: float
Returns: The desired real-time factor.

run(paused=False)¶

Run the simulator.

Parameters: paused (boolean) – True to perform paused steps that do not affect the physics, false for normal steps. The number of steps configured during construction are executed.
Return type: boolean
Returns: True for success, false otherwise.

running()¶

Check if the simulator is running.

Notes: This method is useful in non-deterministic mode, which is not currently supported.

Return type: boolean
Returns: True for success, false otherwise.

step_size()¶

Get the size of a simulator step.

Return type: float
Returns: The simulator step size in seconds.

steps_per_run()¶

Get the number or steps to execute every simulator run.

Return type: int
Returns: The configured number of steps per run.

property thisown¶: The membership flag

world_names()¶

Get the list if the world names part of the simulation.

Return type: Tuple[string]
Returns: The world names.

class scenario.bindings.gazebo.Joint¶

Bases: scenario.bindings.core.Joint, scenario.bindings.gazebo.GazeboEntity

acceleration(dof=0)¶

Get the acceleration of a joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid.
Return type: float
Returns: The acceleration of the joint DOF.

acceleration_target(dof=0)¶

Get the active acceleration target of the joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid or if no acceleration target was set.
Return type: float
Returns: The acceleration target of the joint DOF.

control_mode()¶

Get the active joint control mode.

Return type: int
Returns: The active joint control mode.

controller_period()¶

Get the period of the controller, if any.

The controller period is a model quantity. If no controller is active, infinity is returned.

Return type: float
Returns: The the controller period.

coulomb_friction()¶

Get the Coulomb friction of the joint.

If \(K_c\) is the Coulomb friction parameter, and \(\dot{q}\) the joint velocity, the corresponding torque is often modelled as:

\(\tau_{static} = sign(\dot{q}) K_c\)

Return type: float
Returns: The Coulomb friction parameter of the joint.

dofs()¶

Get the number of degrees of freedom of the joint.

Return type: int
Returns: The number of DOFs of the joint.

enable_history_of_applied_joint_forces(enable=True, max_history_size=100)¶

Enable the history of joint forces.

Parameters

enable (boolean) – True to enable, false to disable.
maxHistorySize (int) – The size of the history window.

Return type

boolean

Returns

True for success, false otherwise.

generalized_force(dof=0)¶

Get the generalized force of a joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid.
Return type: float
Returns: The generalized force of the joint DOF.

generalized_force_target(dof=0)¶

Get the active generalized force target of the joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid or if no generalized force target was set.
Return type: float
Returns: The generalized force target of the joint DOF.

history_of_applied_joint_forces()¶

Get the history of applied joint forces.

The vector is populated with #DoFs values at each physics step.

Return type: Tuple[float]
Returns: The vector containing the history of joint forces.

history_of_applied_joint_forces_enabled()¶

Check if the history of applied joint forces is enabled.

Return type: boolean
Returns: True if the history is enabled, false otherwise.

id()¶

Get the unique id of the object.

Notes: It might differ from the entity number since a multi-world setting with the same models inserted in the same order would result to same numbering.

Return type: int
Returns: The unique object id. Invalid objects return 0.

insert_joint_plugin(*args)¶

Insert a Ignition Gazebo plugin to the joint.

Parameters

libName (string) – The library name of the plugin.
className (string) – The class name (or alias) of the plugin.
context (string) – Optional XML plugin context.

Return type

boolean

Returns

True for success, false otherwise.

joint_acceleration()¶

Get the acceleration of the joint.

Return type: Tuple[float]
Returns: The acceleration of the joint.

joint_acceleration_target()¶

Get the active acceleration target.

Return type: Tuple[float]
Returns: The acceleration target of the joint.

joint_generalized_force()¶

Get the generalized force of the joint.

Return type: Tuple[float]
Returns: The generalized force of the joint.

joint_generalized_force_target()¶

Get the active generalized force target.

Return type: Tuple[float]
Returns: The generalized force target of the joint.

joint_max_generalized_force()¶

Get the maximum generalized force that could be applied to the joint.

Return type: Tuple[float]
Returns: The maximum generalized force of the joint.

joint_position()¶

Get the position of the joint.

Return type: Tuple[float]
Returns: The position of the joint.

joint_position_limit()¶

Get the position limits of the joint.

Return type: JointLimit
Returns: The position limits of the joint.

joint_position_target()¶

Get the active position target.

Return type: Tuple[float]
Returns: The position target of the joint.

joint_velocity()¶

Get the velocity of the joint.

Return type: Tuple[float]
Returns: The velocity of the joint.

joint_velocity_limit()¶

Get the velocity limits of the joint.

Return type: JointLimit
Returns: The velocity limits of the joint.

joint_velocity_target()¶

Get the active velocity target.

Return type: Tuple[float]
Returns: The velocity target of the joint.

max_generalized_force(dof=0)¶

Get the maximum generalized force that could be applied to a joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid.
Return type: float
Returns: The maximum generalized force of the joint DOF.

name(scoped=False)¶

Get the name of the joint.

Parameters: scoped (boolean) – If true, the scoped name of the joint is returned.
Return type: string
Returns: The name of the joint.

pid()¶

Get the PID parameters of the joint.

If no PID parameters have been set, the default parameters are returned.

Return type: PID
Returns: The joint PID parameters.

position(dof=0)¶

Get the position of a joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid.
Return type: float
Returns: The position of the joint DOF.

position_limit(dof=0)¶

Get the position limits of a joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid.
Return type: Limit
Returns: The position limits of the joint DOF.

position_target(dof=0)¶

Get the active position target of the joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid or if no position target was set.
Return type: float
Returns: The position target of the joint DOF.

reset(position=0, velocity=0, dof=0)¶

Reset the state of a joint DOF.

This method also resets the PID state of the joint.

Parameters

position (float) – The desired position.
velocity (float) – The desired velocity.
dof (int) – The index of the DOF.

Return type

boolean

Returns

True for success, false otherwise.

reset_joint(position, velocity)¶

Reset the state of the joint.

This method also resets the PID state of the joint.

Parameters

position (Tuple[float]) – The desired position.
velocity (Tuple[float]) – The desired velocity.

Return type

boolean

Returns

True for success, false otherwise.

reset_joint_position(position)¶

Reset the position of the joint.

This method also resets the PID state of the joint.

Parameters: position (Tuple[float]) – The desired position.
Return type: boolean
Returns: True for success, false otherwise.

reset_joint_velocity(velocity)¶

Reset the velocity of the joint.

This method also resets the PID state of the joint.

Parameters: velocity (Tuple[float]) – The desired velocity.
Return type: boolean
Returns: True for success, false otherwise.

reset_position(position=0, dof=0)¶

Reset the position of a joint DOF.

Parameters

position (float) – The desired position.
dof (int) – The index of the DOF.

Return type

boolean

Returns

True for success, false otherwise.

reset_velocity(velocity=0, dof=0)¶

Reset the velocity of a joint DOF.

Parameters

velocity (float) – The desired velocity.
dof (int) – The index of the DOF.

Return type

boolean

Returns

True for success, false otherwise.

set_acceleration_target(acceleration, dof=0)¶

Set the acceleration target of a joint DOF.

The target is processed by a joint controller, if enabled.

Parameters

acceleration (float) – The acceleration target of the joint DOF.
dof (int) – The index of the DOF.

Return type

boolean

Returns

True for success, false otherwise.

set_control_mode(mode)¶

Set the joint control mode.

Parameters: mode (int) – The desired control mode.
Return type: boolean
Returns: True for success, false otherwise.

set_coulomb_friction(value)¶

Set the Coulomb friction parameter of the joint.

Notes: Friction can be changed only before the first simulated step after model insertion.

Parameters: value (float) – The new Coulomb friction value.
Return type: boolean
Returns: True for success, false otherwise.

set_generalized_force_target(force, dof=0)¶

Set the generalized force target of a joint DOF.

The force is applied to the desired DOF. Note that if there’s friction or other loss components, the real joint force will differ.

Parameters

force (float) – The generalized force target of the joint DOF.
dof (int) – The index of the DOF.

Return type

boolean

Returns

True for success, false otherwise.

set_joint_acceleration_target(acceleration)¶

Set the acceleration target of the joint.

The target is processed by a joint controller, if enabled.

Parameters: acceleration (Tuple[float]) – A vector with the acceleration targets of the joint DOFs.
Return type: boolean
Returns: True for success, false otherwise.

set_joint_generalized_force_target(force)¶

Set the generalized force target of the joint.

Note that if there’s friction or other loss components, the real joint force will differ.

Parameters: force (Tuple[float]) – A vector with the generalized force targets of the joint DOFs.
Return type: boolean
Returns: True for success, false otherwise.

set_joint_max_generalized_force(max_force)¶

Set the maximum generalized force that can be applied to the joint.

This limit can be used to clip the force applied by joint controllers.

Parameters: maxForce (Tuple[float]) – A vector with the maximum generalized forces of the joint DOFs.
Return type: boolean
Returns: True for success, false otherwise.

set_joint_position_target(position)¶

Set the position target of the joint.

The target is processed by a joint controller, if enabled.

Parameters: position (Tuple[float]) – A vector with the position targets of the joint DOFs.
Return type: boolean
Returns: True for success, false otherwise.

set_joint_velocity_limit(max_velocity)¶

Set the maximum velocity of the joint.

This limit can be used to clip the velocity applied by joint controllers.

Parameters: maxVelocity (Tuple[float]) – A vector with the maximum velocity of the joint DOFs.
Return type: boolean
Returns: True for success, false otherwise.

set_joint_velocity_target(velocity)¶

Set the velocity target of the joint.

The target is processed by a joint controller, if enabled.

Parameters: velocity (Tuple[float]) – A vector with the velocity targets of the joint DOFs.
Return type: boolean
Returns: True for success, false otherwise.

set_max_generalized_force(max_force, dof=0)¶

Set the maximum generalized force that can be applied to a joint DOF.

This limit can be used to clip the force applied by joint controllers.

Parameters

maxForce (float) – The maximum generalized force.
dof (int) – The index of the DOF.

Return type

boolean

Returns

True for success, false otherwise.

set_pid(pid)¶

Set the PID parameters of the joint.

Parameters: pid (PID) – The desired PID parameters.
Return type: boolean
Returns: True for success, false otherwise.

set_position_target(position, dof=0)¶

Set the position target of a joint DOF.

The target is processed by a joint controller, if enabled.

Parameters

position (float) – The position target of the joint DOF.
dof (int) – The index of the DOF.

Raises

std::runtime_error if the DOF is not valid.

Return type

boolean

Returns

True for success, false otherwise.

set_velocity_limit(max_velocity, dof=0)¶

Set the maximum velocity of a joint DOF.

This limit can be used to clip the velocity applied by joint controllers.

Parameters

maxVelocity (float) – The maximum velocity.
dof (int) – The index of the DOF.

Return type

boolean

Returns

True for success, false otherwise.

set_velocity_target(velocity, dof=0)¶

Set the velocity target of a joint DOF.

The target is processed by a joint controller, if enabled.

Parameters

velocity (float) – The velocity target of the joint DOF.
dof (int) – The index of the DOF.

Return type

boolean

Returns

True for success, false otherwise.

set_viscous_friction(value)¶

Set the viscous friction parameter of the joint.

Notes: Friction can be changed only before the first simulated step after model insertion.

Parameters: value (float) – The new viscous friction value.
Return type: boolean
Returns: True for success, false otherwise.

property thisown¶: The membership flag

type()¶

Get the type of the joint.

Return type: int
Returns: The type of the joint.

valid()¶

Check if the joint is valid.

Return type: boolean
Returns: True if the joint is valid, false otherwise.

velocity(dof=0)¶

Get the velocity of a joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid.
Return type: float
Returns: The velocity of the joint DOF.

velocity_limit(dof=0)¶

Get the velocity limit of a joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid.
Return type: Limit
Returns: The velocity limit of the joint DOF.

velocity_target(dof=0)¶

Get the active velocity target of the joint DOF.

Parameters: dof (int) – The index of the DOF.
Raises: std::runtime_error if the DOF is not valid or if no velocity target was set.
Return type: float
Returns: The velocity target of the joint DOF.

viscous_friction()¶

Get the viscous friction of the joint.

If \(K_v\) is the viscous friction parameter, and \(\dot{q}\) the joint velocity, the corresponding torque is often modelled as:

\(\tau_{static} = K_v \dot{q}\)

Return type: float
Returns: The viscous friction parameter of the joint.

class scenario.bindings.gazebo.Link¶

Bases: scenario.bindings.core.Link, scenario.bindings.gazebo.GazeboEntity

apply_world_force(force, duration=0.0)¶

Apply a force to the link.

The force is applied to the origin of the link frame.

Parameters

force (Tuple[float, float, float]) – The force to apply expressed in world coordinates.
duration (float) – The duration of the application of the force. By default the force is applied for a single physics step.

Return type

boolean

Returns

True for success, false otherwise.

apply_world_torque(torque, duration=0.0)¶

Apply a torque to the link.

The force is applied to the origin of the link frame.

Parameters

torque (Tuple[float, float, float]) – The torque to apply expressed in world coordinates.
duration (float) – The duration of the application of the torque. By default the torque is applied for a single physics step.

Return type

boolean

Returns

True for success, false otherwise.

apply_world_wrench(force, torque, duration=0.0)¶

Apply a wrench to the link.

The force is applied to the origin of the link frame.

Parameters

force (Tuple[float, float, float]) – The force to apply expressed in world coordinates.
torque (Tuple[float, float, float]) – The torque to apply expressed in world coordinates.
duration (float) – The duration of the application of the wrench. By default the wrench is applied for a single physics step.

Return type

boolean

Returns

True for success, false otherwise.

apply_world_wrench_to_co_m(force, torque, duration=0.0)¶

Apply a wrench to the CoM of the link.

Notes: This method considers the CoM being positioned in the origin of the inertial frame as it is defined in the SDF description of the model. Note that if not explicitly specified, inertial and link frames match. In this case, applyWorldWrench and applyWorldWrenchToCoM effects will be the same.

Parameters

force (Tuple[float, float, float]) – The force to apply expressed in world coordinates.
torque (Tuple[float, float, float]) – The torque to apply expressed in world coordinates.
duration (float) – The duration of the application of the wrench. By default the wrench is applied for a single physics step.

Return type

boolean

Returns

True for success, false otherwise.

body_angular_acceleration()¶

Get the angular body acceleration of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The angular body acceleration of the link.

body_angular_velocity()¶

Get the angular body velocity of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The angular body velocity of the link.

body_linear_acceleration()¶

Get the linear body acceleration of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The linear body acceleration of the link.

body_linear_velocity()¶

Get the linear body velocity of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The linear body velocity of the link.

contact_wrench()¶

Get the total wrench generated by the active contacts.

All the contact wrenches are composed to an equivalent wrench applied to the origin of the link frame and expressed in world coordinates.

Return type: Tuple[float, float, float, float, float, float]
Returns: The total wrench of the active contacts.

contacts()¶

Get the active contacts of the link.

Return type: Tuple[Contact]
Returns: The vector of active contacts.

contacts_enabled()¶

Check if the contact detection is enabled.

Return type: boolean
Returns: True if the contact detection is enabled, false otherwise.

enable_contact_detection(enable)¶

Enable the contact detection.

Parameters: enable (boolean) – True to enable the contact detection, false to disable.
Return type: boolean
Returns: True for success, false otherwise.

id()¶

Get the unique id of the object.

Notes: It might differ from the entity number since a multi-world setting with the same models inserted in the same order would result to same numbering.

Return type: int
Returns: The unique object id. Invalid objects return 0.

in_contact()¶

Check if the link has active contacts.

Return type: boolean
Returns: True if the link has at least one contact and contacts are enabled, false otherwise.

insert_link_plugin(*args)¶

Insert a Ignition Gazebo plugin to the link.

Parameters

libName (string) – The library name of the plugin.
className (string) – The class name (or alias) of the plugin.
context (string) – Optional XML plugin context.

Return type

boolean

Returns

True for success, false otherwise.

mass()¶

Get the mass of the link.

Return type: float
Returns: The mass of the link.

name(scoped=False)¶

Get the name of the link.

Parameters: scoped (boolean) – If true, the scoped name of the link is returned.
Return type: string
Returns: The name of the link.

orientation()¶

Get the orientation of the link.

The orientation is returned as a quaternion, which defines the rotation between the world frame and the link frame.

Return type: Tuple[float, float, float, float]
Returns: The wxyz quaternion defining the orientation if the link wrt the world frame.

position()¶

Get the position of the link.

The returned position is the position of the link frame, as it was defined in the model file, in world coordinates.

Return type: Tuple[float, float, float]
Returns: The cartesian position of the link frame in world coordinates.

property thisown¶: The membership flag

valid()¶

Check if the link is valid.

Return type: boolean
Returns: True if the link is valid, false otherwise.

world_angular_acceleration()¶

Get the angular mixed acceleration of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The angular mixed acceleration of the link.

world_angular_velocity()¶

Get the angular mixed velocity of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The angular mixed velocity of the link.

world_linear_acceleration()¶

Get the linear mixed acceleration of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The linear mixed acceleration of the link.

world_linear_velocity()¶

Get the linear mixed velocity of the link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The linear mixed velocity of the link.

class scenario.bindings.gazebo.Model¶

Bases: scenario.bindings.core.Model, scenario.bindings.gazebo.GazeboEntity

base_body_angular_velocity()¶

Get the angular body velocity of the base link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The angular body velocity of the base link.

base_body_linear_velocity()¶

Get the linear body velocity of the base link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The linear body velocity of the base link.

base_frame()¶

Get the name of the model’s base frame.

By default, the base frame is typically the root of the kinematic tree of the model.

Return type: string
Returns: The name of the model’s base frame.

base_orientation()¶

Get the orientation of the base link.

Return type: Tuple[float, float, float, float]
Returns: The wxyz quaternion defining the orientation of the base link wrt the world frame.

base_orientation_target()¶

Get the orientation target of the base link.

Return type: Tuple[float, float, float, float]
Returns: The quaternion defining the orientation target of the base link.

base_position()¶

Get the position of the base link.

Return type: Tuple[float, float, float]
Returns: The position of the base link in world coordinates.

base_position_target()¶

Get the position target of the base link.

Return type: Tuple[float, float, float]
Returns: The position target of the base link.

base_world_angular_acceleration_target()¶

Get the mixed angular acceleration target of the base link.

Return type: Tuple[float, float, float]
Returns: The mixed angular acceleration target of the base link.

base_world_angular_velocity()¶

Get the angular mixed velocity of the base link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The angular mixed velocity of the base link.

base_world_angular_velocity_target()¶

Get the mixed angular velocity target of the base link.

Return type: Tuple[float, float, float]
Returns: The mixed angular velocity target of the base link.

base_world_linear_acceleration_target()¶

Get the mixed linear acceleration target of the base link.

Return type: Tuple[float, float, float]
Returns: The mixed linear acceleration target of the base link.

base_world_linear_velocity()¶

Get the linear mixed velocity of the base link.

TODO: Add link to the velocity representation documentation page.

Return type: Tuple[float, float, float]
Returns: The linear mixed velocity of the base link.

base_world_linear_velocity_target()¶

Get the mixed linear velocity target of the base link.

Return type: Tuple[float, float, float]
Returns: The mixed linear velocity target of the base link.

contacts(*args)¶

Get the active contacts of the model.

Parameters: linkNames (Tuple[string]) – Optionally restrict the considered links.
Return type: Tuple[Contact]
Returns: A vector of contacts.

contacts_enabled()¶

Check if the contact detection is enabled model-wise.

Return type: boolean
Returns: True if the contact detection is enabled model-wise, false otherwise.

controller_period()¶

Get the controller period of the model.

If no controller has been enabled, infinite is returned.

Return type: float
Returns: The controller period of the model.

dofs(*args)¶

Get the degrees of freedom of the model.

Parameters: jointNames (Tuple[string]) – Optionally restrict the count to a subset of joints.
Return type: int
Returns: The number of degrees of freedom of the model.

enable_contacts(enable=True)¶

Enable the contact detection model-wise.

Parameters: enable (boolean) – True to enable the contact detection model-wise, false to disable.
Return type: boolean
Returns: True for success, false otherwise.

enable_history_of_applied_joint_forces(*args)¶

Enable logging the applied joint forces.

The output of joint controllers is often a torque. This method allows to log the force references that the controller sent to the joints. It is useful when the controller runs in its own thread at its own rate and the caller wants to extract the forces at a lower frequency.

Parameters

enable (boolean) – True to enable logging, false to disable.
maxHistorySizePerJoint (int) – Size of the logging window of each joint.
jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Return type

boolean

Returns

True for success, false otherwise.

enable_self_collisions(enable=True)¶

Enable the detection of self-collisions.

It will enable contact detection if it was disabled.

Parameters: enable (boolean) – True to enable the self-collision detection, false to disable.
Return type: boolean
Returns: True for success, false otherwise.

get_joint(joint_name)¶

Get a joint belonging to the model.

Parameters: jointName (string) – The name of the joint.
Raises: std::runtime_error if the joint does not exist.
Return type: Joint
Returns: The desired joint.

get_link(link_name)¶

Get a link belonging to the model.

Parameters: linkName (string) – The name of the link.
Raises: std::runtime_error if the link does not exist.
Return type: Link
Returns: The desired link.

history_of_applied_joint_forces(*args)¶

Get the log of applied joint forces.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The entire window of applied joint forces.

Notes: Given a serialization, the window has DoFs * JointWindowSize elements. The elements are ordered per time steps, i.e. the first #DoFs elements refer to the oldest forces of the windows ordered with the active joint serialization.

If a joint has multiple DoFs, they are serialized contiguously.

history_of_applied_joint_forces_enabled(*args)¶

Check if logging the applied joint force is enabled.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Return type: boolean
Returns: True if the log is enabled, false otherwise.

id()¶

Get the unique id of the object.

Notes: It might differ from the entity number since a multi-world setting with the same models inserted in the same order would result to same numbering.

Return type: int
Returns: The unique object id. Invalid objects return 0.

insert_model_plugin(*args)¶

Insert a Ignition Gazebo plugin to the model.

Parameters

libName (string) – The library name of the plugin.
className (string) – The class name (or alias) of the plugin.
context (string) – Optional XML plugin context.

Return type

boolean

Returns

True for success, false otherwise.

joint_acceleration_targets(*args)¶

Get the acceleration targets of the joints.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The acceleration targets of the joints.

joint_accelerations(*args)¶

Get the joint accelerations.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The serialization of joint accelerations. The vector has as many elements as DoFs of the considered joints.

joint_generalized_force_targets(*args)¶

Get the generalized force targets of the joints.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The generalized force targets of the joints.

joint_generalized_forces(*args)¶

Get the joint generalized forces.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The serialization of joint forces. The vector has as many elements as DoFs of the considered joints.

joint_limits(*args)¶

Get the joint limits of the model.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Return type: JointLimit
Returns: The joint limits of the model. The vectors of the limit object have as many elements as DoFs of the considered joints.

joint_names(scoped=False)¶

Get the name of all the model’s joints.

Parameters: scoped (boolean) – Scope the joint names with the model name, (e.g. mymodel::joint1).
Return type: Tuple[string]
Returns: The list of joint names.

joint_position_targets(*args)¶

Get the position targets of the joints.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The position targets of the joints.

joint_positions(*args)¶

Get the joint positions.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The serialization of joint positions. The vector has as many elements as DoFs of the considered joints.

joint_velocities(*args)¶

Get the joint velocities.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The serialization of joint velocities. The vector has as many elements as DoFs of the considered joints.

joint_velocity_targets(*args)¶

Get the velocity targets of the joints.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.
Return type: Tuple[float]
Returns: The velocity targets of the joints.

joints(*args)¶

Get the joints of the model.

Parameters: jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.
Return type: Tuple[Joint]
Returns: A vector of pointers to the joint objects.

link_names(scoped=False)¶

Get the name of all the model’s links.

Parameters: scoped (boolean) – Scope the link names with the model name (e.g. mymodel::link1).
Return type: Tuple[string]
Returns: The list of link names.

links(*args)¶

Get the links of the model.

Parameters: linkNames (Tuple[string]) – Optional vector of considered links. By default, Model::linkNames is used.
Return type: Tuple[Link]
Returns: A vector of pointers to the link objects.

links_in_contact()¶

Get the vector of links with active contacts with other bodies.

Return type: Tuple[string]
Returns: The vector of links in contact.

name()¶

Get the name of the model.

Return type: string
Returns: The name of the model.

nr_of_joints()¶

Get the number of joints of the model.

Return type: int
Returns: The number of joints.

nr_of_links()¶

Get the number of links of the model.

Return type: int
Returns: The number of links.

reset_base_orientation(*args)¶

Reset the orientation of the base link.

Parameters: orientation (Tuple[float, float, float, float]) – The wxyz quaternion defining the desired orientation of the base link wrt the world frame.
Return type: boolean
Returns: True for success, false otherwise.

reset_base_pose(*args)¶

Reset the pose of the base link.

Parameters

position (Tuple[float, float, float]) – The desired position of the base link in world coordinates.
orientation (Tuple[float, float, float, float]) – The wxyz quaternion defining the desired orientation of the base link wrt the world frame.

Return type

boolean

Returns

True for success, false otherwise.

reset_base_position(*args)¶

Reset the position of the base link.

Parameters: position (Tuple[float, float, float]) – The desired position of the base link in world coordinates.
Return type: boolean
Returns: True for success, false otherwise.

reset_base_world_angular_velocity(*args)¶

Reset the angular mixed velocity of the base link.

Parameters: angular (Tuple[float, float, float]) – The desired angular mixed velocity of the base link.
Return type: boolean
Returns: True for success, false otherwise.

reset_base_world_linear_velocity(*args)¶

Reset the linear mixed velocity of the base link.

Parameters: linear (Tuple[float, float, float]) – The desired linear mixed velocity of the base link.
Return type: boolean
Returns: True for success, false otherwise.

reset_base_world_velocity(*args)¶

Reset the mixed velocity of the base link.

Parameters

linear (Tuple[float, float, float]) – The desired linear mixed velocity of the base link.
angular (Tuple[float, float, float]) – The desired angular mixed velocity of the base link.

Return type

boolean

Returns

True for success, false otherwise.

reset_joint_positions(*args)¶

Reset the positions of the joints.

Parameters

positions (Tuple[float]) – The desired new joint positions.
jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.

Return type

boolean

Returns

True for success, false otherwise.

reset_joint_velocities(*args)¶

Reset the velocities of the joints.

Parameters

velocities (Tuple[float]) – The desired new velocities positions.
jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.

Return type

boolean

Returns

True for success, false otherwise.

self_collisions_enabled()¶

Check if the detection of self-collisions is enabled.

Return type: boolean
Returns: True if self-collisions detection is enabled, false otherwise.

set_base_orientation_target(orientation)¶

Set the orientation target of the base link.

Parameters: orientation (Tuple[float, float, float, float]) – The wxyz quaternion defining the orientation target of the base link wrt the world frame.
Return type: boolean
Returns: True for success, false otherwise.

set_base_pose_target(position, orientation)¶

Set the pose target of the base link.

Parameters

position (Tuple[float, float, float]) – The position target of the base link in world coordinates.
orientation (Tuple[float, float, float, float]) – The wxyz quaternion defining the orientation target of the base link wrt the world frame.

Return type

boolean

Returns

True for success, false otherwise.

set_base_position_target(position)¶

Set the position target of the base link.

Parameters: position (Tuple[float, float, float]) – The position target of the base link in world coordinates.
Return type: boolean
Returns: True for success, false otherwise.

set_base_world_angular_acceleration_target(angular)¶

Set the mixed angular acceleration target of the base link.

Parameters: angular (Tuple[float, float, float]) – The mixed angular acceleration target of the base link.
Return type: boolean
Returns: True for success, false otherwise.

set_base_world_angular_velocity_target(angular)¶

Set the mixed angular velocity target of the base link.

Parameters: angular (Tuple[float, float, float]) – The mixed angular velocity target of the base link.
Return type: boolean
Returns: True for success, false otherwise.

set_base_world_linear_acceleration_target(linear)¶

Set the mixed linear acceleration target of the base link.

Parameters: linear (Tuple[float, float, float]) – The mixed linear acceleration target of the base link.
Return type: boolean
Returns: True for success, false otherwise.

set_base_world_linear_velocity_target(linear)¶

Set the mixed linear velocity target of the base link.

Parameters: linear (Tuple[float, float, float]) – The mixed linear velocity target of the base link.
Return type: boolean
Returns: True for success, false otherwise.

set_base_world_velocity_target(linear, angular)¶

Set the mixed velocity target of the base link.

Parameters

linear (Tuple[float, float, float]) – The mixed linear velocity target of the base link.
angular (Tuple[float, float, float]) – The mixed angular velocity target of the base link.

Return type

boolean

Returns

True for success, false otherwise.

set_controller_period(period)¶

Set the controller period of the model.

This controller period is used by PIDs and custom controller. If it is smaller than the physics step, it is treated as 0.

Parameters: period (float) – The desired controller period.
Return type: boolean
Returns: True for success, false otherwise.

set_joint_acceleration_targets(*args)¶

Set the acceleration targets of the joints.

Parameters

accelerations (Tuple[float]) – The vector with the joint acceleration targets. It must have as many elements as the considered joint DoFs.
jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.

Return type

boolean

Returns

True for success, false otherwise.

set_joint_control_mode(*args)¶

Set the control mode of model joints.

Parameters

mode (int) – The desired joint control mode.
jointNames (Tuple[string]) – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Return type

boolean

Returns

True for success, false otherwise.

set_joint_generalized_force_targets(*args)¶

Set the generalized force targets of the joints.

Parameters

forces (Tuple[float]) – The vector with the joint generalized force targets. It must have as many elements as the considered joint DoFs.
jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.

Return type

boolean

Returns

True for success, false otherwise.

set_joint_position_targets(*args)¶

Set the position targets of the joints.

Parameters

positions (Tuple[float]) – The vector with the joint position targets. It must have as many elements as the considered joint DoFs.
jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.

Return type

boolean

Returns

True for success, false otherwise.

set_joint_velocity_targets(*args)¶

Set the velocity targets of the joints.

Parameters

velocities (Tuple[float]) – The vector with the joint velocity targets. It must have as many elements as the considered joint DoFs.
jointNames (Tuple[string]) – Optional vector of considered joints. By default, Model::jointNames is used.

Return type

boolean

Returns

True for success, false otherwise.

property thisown¶: The membership flag

total_mass(*args)¶

Get the total mass of the model.

Parameters: linkNames (Tuple[string]) – Optionally restrict the count to a subset of links.
Return type: float
Returns: The total mass of the model.

valid()¶

Check if the model is valid.

Return type: boolean
Returns: True if the model is valid, false otherwise.

scenario.bindings.gazebo.PhysicsEngine_dart = 0¶: The physics engine included in the Dynamic Animation and Robotics Toolkit.

scenario.bindings.gazebo.PhysicsEngine_tpe = 1¶: The Trivial Physics Engine, a kinematics-only physics engine developed by Open Robotics.

class scenario.bindings.gazebo.SwigPyIterator(*args, **kwargs)¶

Bases: object

advance(n)¶

copy()¶

decr(n=1)¶

distance(x)¶

equal(x)¶

incr(n=1)¶

next()¶

previous()¶

property thisown¶: The membership flag

value()¶

scenario.bindings.gazebo.ToGazeboJoint(base)¶

scenario.bindings.gazebo.ToGazeboLink(base)¶

scenario.bindings.gazebo.ToGazeboModel(base)¶

scenario.bindings.gazebo.ToGazeboWorld(base)¶

class scenario.bindings.gazebo.World¶

Bases: scenario.bindings.core.World, scenario.bindings.gazebo.GazeboEntity

get_model(model_name)¶

Get a model part of the world.

Parameters: modelName (string) – The name of the model to get.
Return type: scenario.core.Model
Returns: The model if it is part of the world, None otherwise.

gravity()¶: Get the gravity vector. :rtype: Tuple[float, float, float] :return: The gravity vector.

id()¶

Get the unique id of the object.

Notes: It might differ from the entity number since a multi-world setting with the same models inserted in the same order would result to same numbering.

Return type: int
Returns: The unique object id. Invalid objects return 0.

insert_model(*args)¶

Load a model from the given path and insert it into the world.

This function is a shim over InsertModelFromFile for backwards compatibility.

Parameters

modelFile (string) – A path to the URDF or SDF file to load and insert.
pose (Pose) – The optional initial pose of the model.
overrideModelName (string) – The optional name of the model. This is the name used to get the model with World::getModel.

Return type

boolean

Returns

True for success, false otherwise.

Notes: The default pose and model name are those specified in the robot description. If the pose is not specified, the identity is used.

Warning: In order to process the model insertion, a simulator step must be executed. It could either be a paused or unpaused step.

insert_model_from_file(*args)¶

Load a model from the given path and insert it into the world.

Parameters

path (string) – A path to the URDF or SDF file to load and insert.
pose (Pose) – The optional initial pose of the model.
overrideModelName (string) – The optional name of the model. This is the name used to get the model with World::getModel.

Return type

boolean

Returns

True for success, false otherwise.

Notes: The default pose and model name are those specified in the robot description. If the pose is not specified, the identity is used.

Warning: In order to process the model insertion, a simulator step must be executed. It could either be a paused or unpaused step.

insert_model_from_string(*args)¶

Load a model from the given string and insert it into the world.

Parameters

sdfString (string) – A string containing the model’s SDF/URDF XML.
pose (Pose) – The optional initial pose of the model.
overrideModelName (string) – The optional name of the model. This is the name used to get the model with World::getModel.

Return type

boolean

Returns

True for success, false otherwise.

Notes: The default pose and model name are those specified in the robot description. If the pose is not specified, the identity is used.

Warning: In order to process the model insertion, a simulator step must be executed. It could either be a paused or unpaused step.

insert_world_plugin(*args)¶

Insert a Ignition Gazebo plugin to the world.

Parameters

libName (string) – The library name of the plugin.
className (string) – The class name (or alias) of the plugin.
context (string) – Optional XML plugin context.

Return type

boolean

Returns

True for success, false otherwise.

model_names()¶

Get the name of the models that are part of the world.

Return type: Tuple[string]
Returns: The list of model names.

models(*args)¶

Get the models of the world.

Parameters: modelNames (Tuple[string]) – Optional vector of considered models. By default, World::modelNames is used.
Return type: std::vector< scenario::core::ModelPtr,std::allocator< scenario::core::ModelPtr > >
Returns: A vector of pointers to the model objects.

name()¶

Get the name of the world.

Return type: string
Returns: The name of the world.

remove_model(model_name)¶

Remove a model from the world.

Parameters: modelName (string) – The name of the model to remove.
Return type: boolean
Returns: True for success, false otherwise.

Warning: In order to process the model removal, a simulator step must be executed. It could either be a paused or unpaused step.

set_gravity(gravity)¶

Set the gravity of the world.

Notes: This method must be called after setting the physics engine and before performing any physics step.

Parameters: gravity (Tuple[float, float, float]) – The desired gravity vector.
Return type: boolean
Returns: True for success, false otherwise.

set_physics_engine(engine)¶

Set the physics engine of the world.

By default, if the world file does not already contain a physics plugin, no physics is loaded by default. This method allows to insert in the simulator a plugin with one of the supported physics engines.

Parameters: engine (int) – The desired physics engine.
Return type: boolean
Returns: True for success, false otherwise.

property thisown¶: The membership flag

time()¶

Get the simulated time.

Notes: A physics plugin need to be part of the simulation in order to make the time flow.

Return type: float
Returns: The simulated time.

valid()¶

Check if the world is valid.

Return type: boolean
Returns: True if the world is valid, false otherwise.

scenario.bindings.gazebo.denormalize(input, low, high)¶

Denormalize a vector from [-1, 1].

The denormalization applies the following equation, where \(v\) is the input, \(l\) and \(h\) are respectively the lower and higher limits:

\(v_{denormalized} = \frac{1}{2} (v + 1)(h - l) - l\)

The input, low and high arguments are broadcasted to a common size. Refer to the following for broadcasting definition:

https://numpy.org/doc/stable/user/basics.broadcasting.html

Parameters

input (Tuple[float]) – The input vector.
low (Tuple[float]) – The lower limit.
high (Tuple[float]) – The higher limit.

Raises

std::invalid_argument If the arguments cannot be broadcasted.

Return type

Tuple[float]

Returns

The denormalized input.

scenario.bindings.gazebo.find_sdf_file(file_name)¶

Find a SDF file in the filesystem.

The search path is defined with the IGN_GAZEBO_RESOURCE_PATH environment variable.

Parameters: fileName (string) – The SDF file name.
Return type: string
Returns: The absolute path to the file if found, an empty string otherwise.

scenario.bindings.gazebo.get_empty_world()¶

Return a SDF string with an empty world.

An empty world only has a sun and the default DART physics profile enabled.

Notes: The empty world does not have any ground plane.

Return type: string
Returns: A SDF string with the empty world.

scenario.bindings.gazebo.get_model_file_from_fuel(uri, use_cache=False)¶

Get a SDF model file from a Fuel URI.

Notes: A valid URI has the following form: https://fuel.ignitionrobotics.org/openrobotics/models/model_name

Parameters

URI (string) – A valid Fuel URI.
useCache (boolean) – Load the model from the local cache.

Return type

string

Returns

The absolute path to the SDF model.

scenario.bindings.gazebo.get_model_name_from_sdf(file_name)¶

Get the name of a model from a SDF file or SDF string.

Notes: sdformat supports only one model per SDF.

Parameters: fileName (string) – An SDF file or string. It could be an absolute path to the file, the file name if the parent folder is part of the IGN_GAZEBO_RESOURCE_PATH environment variable, or a SDF string.
Return type: string
Returns: The name of the model if the SDF is valid, an empty string otherwise.

scenario.bindings.gazebo.get_random_string(length)¶

Generate a random alpha numeric string.

Parameters: length (int) – The length of the string.
Return type: string
Returns: The random string.

scenario.bindings.gazebo.get_sdf_string(file_name)¶

Get an SDF string from a SDF file.

Parameters: fileName (string) – An SDF file. It could be either an absolute path to the file or the file name if the parent folder is part of the IGN_GAZEBO_RESOURCE_PATH environment variable.
Return type: string
Returns: The SDF string if the file was found and is valid, an empty string otherwise.

scenario.bindings.gazebo.get_world_name_from_sdf(file_name, world_index=0)¶

Get the name of a world from a SDF file or SDF string.

Parameters: fileName (string) – An SDF file or string. It could be an absolute path to the file, the file name if the parent folder is part of the IGN_GAZEBO_RESOURCE_PATH environment variable, or a SDF string.
Return type: string
Returns: The name of the world if the SDF is valid, an empty string otherwise.

scenario.bindings.gazebo.insert_plugin_to_gazebo_entity(*args)¶

Insert a plugin to any Gazebo entity.

Notes: This function will not return true if the plugin is successful. This function just triggers an event that notifies the server to load a plugin, and it does not receive any return value that could be used to assess the outcome.

Parameters

gazeboEntity (GazeboEntity) – The Gazebo entity (world, model, joint, …).
libName (string) – The name of the plugin library.
className (string) – The name of the class implementing the plugin.
context (string) – The optional plugin SDF context.

Return type

boolean

Returns

True if the entity is valid, false otherwise.

scenario.bindings.gazebo.normalize(input, low, high)¶

Normalize a vector in [-1, 1].

The normalization applies the following equation, where \(v\) is the input, \(l\) and \(h\) are respectively the lower and higher limits:

\(v_{normalized} = 2 \frac{v - l}{h - l} - 1\)

The input, low and high arguments are broadcasted to a common size. Refer to the following for broadcasting definition:

https://numpy.org/doc/stable/user/basics.broadcasting.html

Notes: If the lower limit matches the higher limit, the corresponding input value is not normalized.

Parameters

input (Tuple[float]) – The input vector.
low (Tuple[float]) – The lower limit.
high (Tuple[float]) – The higher limit.

Raises

std::invalid_argument If the arguments cannot be broadcasted.

Return type

Tuple[float]

Returns

The normalized input.

scenario.bindings.gazebo.sdf_string_valid(sdf_string)¶

Check if a SDF string is valid.

An SDF string could contain for instance an SDF model or an SDF world, and it is valid if it can be parsed successfully by the SDFormat library.

Parameters: sdfString (string) – The SDF string to check.
Return type: boolean
Returns: True if the SDF string is valid, false otherwise.

scenario.bindings.gazebo.set_verbosity(*args)¶

Set the verbosity process-wise.

Accepted levels are the following:

Verbosity::SuppressAll: No messages.
Verbosity::Error: Error messages.
Verbosity::Warning: Error and warning messages.
Verbosity::Info: Error, warning, and info messages.
Verbosity::Debug: Error, warning, info, and debug messages.

If called without specifying the level, it will use Verbosity::Warning or Verbosity::Debug depending if the project was compiled respectively with Release or Debug flags.

Parameters: level (int) – The verbosity level.

scenario.bindings.gazebo.urdffile_to_sdfstring(urdf_file)¶

Convert a URDF file to a SDF string.

Parameters: urdfFile (string) – The absolute path to the URDF file.
Return type: string
Returns: The SDF string if the file exists and it was successfully converted, an empty string otherwise.

scenario.bindings.gazebo.urdfstring_to_sdfstring(urdf_string)¶

Convert a URDF string to a SDF string.

Parameters: urdfFile – A URDF string.
Return type: string
Returns: The SDF string if the URDF string was successfully converted, an empty string otherwise.