klampt.model package
Helpers for accessing world/simulation variables using a class-style interface. |
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Functions for extrinsic calibration of cameras. |
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Utilities for Cartesian IK solving, interpolation, and path adjustment. |
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Functions and classes for managing collision tests between multiple objects. |
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A uniform interface for getting/setting configurations of arbitrary objects. |
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Definitions of frictional point contacts, contact maps, basic wrench space calculation subroutines, and performing equilibrium testing. |
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A module to help manage coordinate frames and objects attached to them. |
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Utilities for creating primitives, moving base robots, canonical robot models, and stable piles. |
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Utility functions for operating on geometry. |
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Inverse kinematics methods. |
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This module defines the MultiPath class, and methods for loading and saving multipaths from xml files. |
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Registry of semantic properties for robots to help build generalized (non-robot-specific) code. |
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A collection of utility functions for dealing with sensors and sensor data. |
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Defines the |
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Classes for loading, saving, evaluating, and operating on trajectories. |
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Utilities for inspecting Klamp't objects to retrieve a type string / create objects from type strings. |
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Functions for computing robot workspaces, with lots of options for setting feasibility conditions. |
- klampt.model.access module
- klampt.model.calibrate module
robot_sensors()
PointMarker
TransformMarker
CameraInfo
PointObservation
TransformObservation
PixelObservation
RobotExtrinsicCalibration
RobotExtrinsicCalibration.cameraFromRobot()
RobotExtrinsicCalibration.editTrajectory()
RobotExtrinsicCalibration.executeTrajectory()
RobotExtrinsicCalibration.visualize()
RobotExtrinsicCalibration.manualCapture()
RobotExtrinsicCalibration.editCalibration()
RobotExtrinsicCalibration.addFrame()
RobotExtrinsicCalibration.addDetection()
RobotExtrinsicCalibration.cameraTransforms()
RobotExtrinsicCalibration.markerTransforms()
RobotExtrinsicCalibration.setCameraTransform()
RobotExtrinsicCalibration.setMarkerTransform()
RobotExtrinsicCalibration.predictedObservations()
RobotExtrinsicCalibration.predictedResiduals()
RobotExtrinsicCalibration.predictedLogLikelihoods()
RobotExtrinsicCalibration.optimize()
RobotExtrinsicCalibration.updateRobotSensors()
RobotExtrinsicCalibration.save()
RobotExtrinsicCalibration.load()
RobotExtrinsicCalibration.saveFrames()
- klampt.model.cartesian_trajectory module
- klampt.model.collide module
bb_create()
bb_empty()
bb_intersect()
bb_contains()
bb_intersection()
bb_union()
self_collision_iter()
group_collision_iter()
group_subset_collision_iter()
ray_cast()
WorldCollider
WorldCollider.geomList
WorldCollider.mask
WorldCollider.terrains
WorldCollider.rigidObjects
WorldCollider.robots
WorldCollider.ignoreCollision()
WorldCollider.isCollisionEnabled()
WorldCollider.collisionTests()
WorldCollider.collisions()
WorldCollider.robotSelfCollisions()
WorldCollider.robotObjectCollisions()
WorldCollider.robotTerrainCollisions()
WorldCollider.objectTerrainCollisions()
WorldCollider.objectObjectCollisions()
WorldCollider.rayCast()
WorldCollider.rayCastRobot()
- klampt.model.config module
- klampt.model.contact module
- Primary API
- Helpers
id_to_object()
ContactPoint
Hold
force_closure()
com_equilibrium()
support_polygon()
equilibrium_torques()
contact_map()
geometry_contacts()
world_contact_map()
sim_contact_map()
contact_map_ik_objectives()
contact_map_holds()
skew()
inv_mass_matrix()
wrench_matrices()
comEquilibrium()
contactMap()
contactMapHolds()
contactMapIKObjectives()
equilibriumTorques()
forceClosure()
geometryContacts()
idToObject()
invMassMatrix()
simContactMap()
supportPolygon()
worldContactMap()
wrenchMatrices()
- klampt.model.coordinates module
Frame
Transform
Point
Direction
Group
Group.frames
Group.childLists
Group.points
Group.directions
Group.subgroups
Group.rootFrame()
Group.destroy()
Group.setWorldModel()
Group.setRobotModel()
Group.setController()
Group.setSimBody()
Group.updateFromWorld()
Group.updateToWorld()
Group.addFrame()
Group.addPoint()
Group.addDirection()
Group.addGroup()
Group.deleteFrame()
Group.deletePoint()
Group.deleteDirection()
Group.deleteGroup()
Group.setFrameCoordinates()
Group.updateDependentFrames()
Group.frame()
Group.getPoint()
Group.getDirection()
Group.toWorld()
Group.to()
Group.transform()
Group.point()
Group.direction()
Group.pointFromWorld()
Group.directionFromWorld()
Group.listFrames()
Group.listItems()
Manager
manager()
setManager()
destroy()
setWorldModel()
setRobotModel()
setController()
setSimBody()
updateFromWorld()
updateToWorld()
addFrame()
addPoint()
addDirection()
addGroup()
deleteFrame()
deletePoint()
deleteDirection()
deleteGroup()
setFrameCoordinates()
frame()
getPoint()
getDirection()
toWorld()
to()
transform()
point()
direction()
pointFromWorld()
directionFromWorld()
listFrames()
listItems()
ik_objective()
ik_fixed_objective()
- klampt.model.create package
- klampt.model.geometry module
- Working with geometric primitives
- Working with point clouds
- Other utilities
box()
sphere()
PlaneFitter
point_cloud_simplify()
point_cloud_normals()
fit_plane3()
fit_plane()
fit_plane_centroid()
align_points_rotation()
align_points()
point_cloud_colors()
point_cloud_set_colors()
triangle_normals()
vertex_normals()
merge()
sample_surface()
- klampt.model.ik module
- klampt.model.multipath module
MultiPath
MultiPath.sections
MultiPath.settings
MultiPath.holdSet
MultiPath.Section
MultiPath.numSections()
MultiPath.startConfig()
MultiPath.endConfig()
MultiPath.startTime()
MultiPath.endTime()
MultiPath.duration()
MultiPath.hasTiming()
MultiPath.checkValid()
MultiPath.isContinuous()
MultiPath.getSectionTiming()
MultiPath.getStance()
MultiPath.getIKProblem()
MultiPath.aggregateHolds()
MultiPath.deaggregateHolds()
MultiPath.setConfig()
MultiPath.concat()
MultiPath.save()
MultiPath.load()
MultiPath.saveXML()
MultiPath.loadXML()
MultiPath.timeToSection()
MultiPath.timeToSegment()
MultiPath.eval()
MultiPath.setTrajectory()
MultiPath.getTrajectory()
- klampt.model.robotinfo module
RobotInfo
RobotInfo.name
RobotInfo.modelFile
RobotInfo.baseType
RobotInfo.parts
RobotInfo.endEffectors
RobotInfo.grippers
RobotInfo.properties
RobotInfo.controllerFile
RobotInfo.controllerArgs
RobotInfo.simulatorFile
RobotInfo.calibrationFiles
RobotInfo.resourceDir
RobotInfo.filePaths
RobotInfo.robotModel
RobotInfo.all_robots
RobotInfo.register()
RobotInfo.get()
RobotInfo.load()
RobotInfo.klamptModel()
RobotInfo.configureKinematics()
RobotInfo.saveKinematicCalibration()
RobotInfo.configureSensor()
RobotInfo.saveSensorCalibration()
RobotInfo.controller()
RobotInfo.configureControllerEndEffectors()
RobotInfo.configureSimulator()
RobotInfo.partLinks()
RobotInfo.partLinkIndices()
RobotInfo.partLinkNames()
RobotInfo.partDriverIndices()
RobotInfo.partAsSubrobot()
RobotInfo.eeSolver()
RobotInfo.toIndices()
RobotInfo.toDriverIndices()
RobotInfo.toNames()
RobotInfo.listResources()
RobotInfo.getResource()
RobotInfo.setResource()
RobotInfo.save()
EndEffectorInfo
GripperInfo
GripperInfo.name
GripperInfo.baseLink
GripperInfo.fingerLinks
GripperInfo.fingerDrivers
GripperInfo.type
GripperInfo.center
GripperInfo.primaryAxis
GripperInfo.secondaryAxis
GripperInfo.maximumSpan
GripperInfo.minimumSpan
GripperInfo.closedConfig
GripperInfo.openConfig
GripperInfo.synergies
GripperInfo.gripperLinks
GripperInfo.klamptModel
GripperInfo.all_grippers
GripperInfo.register()
GripperInfo.get()
GripperInfo.load()
GripperInfo.mounted()
GripperInfo.partwayOpenConfig()
GripperInfo.configToOpening()
GripperInfo.evalSynergy()
GripperInfo.configToSynergy()
GripperInfo.widthToOpening()
GripperInfo.openingToWidth()
GripperInfo.setFingerConfig()
GripperInfo.getFingerConfig()
GripperInfo.descendantLinks()
GripperInfo.getSubrobot()
GripperInfo.getGeometry()
GripperInfo.fromJson()
GripperInfo.toJson()
GripperInfo.save()
GripperInfo.visualize()
GripperInfo.addToVis()
GripperInfo.removeFromVis()
- klampt.model.sensing module
- Sensor transforms
- Getting images and point clouds
- Working with cameras
set_sensor_xform()
camera_to_images()
image_to_points()
camera_to_points()
camera_to_points_world()
camera_to_viewport()
viewport_to_camera()
camera_to_intrinsics()
intrinsics_to_camera()
camera_ray()
camera_project()
visible()
occluded()
sample_visible_surface()
visible_fraction()
laser_to_points()
projection_map_texture()
- klampt.model.subrobot module
SubRobotModel
SubRobotModel.tofull()
SubRobotModel.fromfull()
SubRobotModel.numLinks()
SubRobotModel.link()
SubRobotModel.numDrivers()
SubRobotModel.driver()
SubRobotModel.getConfig()
SubRobotModel.getVelocity()
SubRobotModel.setConfig()
SubRobotModel.setVelocity()
SubRobotModel.getJointLimits()
SubRobotModel.setJointLimits()
SubRobotModel.getVelocityLimits()
SubRobotModel.setVelocityLimits()
SubRobotModel.getAccelerationLimits()
SubRobotModel.setAccelerationLimits()
SubRobotModel.getTorqueLimits()
SubRobotModel.setTorqueLimits()
SubRobotModel.setDOFPosition()
SubRobotModel.getDOFPosition()
SubRobotModel.getCom()
SubRobotModel.getComJacobian()
SubRobotModel.getLinearMomentum()
SubRobotModel.getAngularMomentum()
SubRobotModel.getKineticEnergy()
SubRobotModel.getTotalInertia()
SubRobotModel.getMassMatrix()
SubRobotModel.getMassMatrixInv()
SubRobotModel.getCoriolisForceMatrix()
SubRobotModel.getCoriolisForces()
SubRobotModel.getGravityForces()
SubRobotModel.torquesFromAccel()
SubRobotModel.accelFromTorques()
SubRobotModel.interpolate()
SubRobotModel.distance()
SubRobotModel.interpolateDeriv()
SubRobotModel.randomizeConfig()
SubRobotModel.configToDrivers()
SubRobotModel.velocityToDrivers()
SubRobotModel.configFromDrivers()
SubRobotModel.velocityFromDrivers()
SubRobotModel.selfCollisionEnabled()
SubRobotModel.enableSelfCollision()
SubRobotModel.selfCollides()
SubRobotModel.drawGL()
SubRobotModel.reduce()
SubRobotModel.mount()
SubRobotModel.sensor()
SubRobotModelLink
SubRobotModelDriver
- klampt.model.trajectory module
Trajectory
Trajectory.times
Trajectory.milestones
Trajectory.load()
Trajectory.save()
Trajectory.startTime()
Trajectory.endTime()
Trajectory.duration()
Trajectory.checkValid()
Trajectory.getSegment()
Trajectory.eval()
Trajectory.deriv()
Trajectory.waypoint()
Trajectory.eval_state()
Trajectory.deriv_state()
Trajectory.interpolate_state()
Trajectory.difference_state()
Trajectory.concat()
Trajectory.insert()
Trajectory.split()
Trajectory.before()
Trajectory.after()
Trajectory.splice()
Trajectory.constructor()
Trajectory.length()
Trajectory.discretize_state()
Trajectory.discretize()
Trajectory.remesh()
Trajectory.extractDofs()
Trajectory.stackDofs()
RobotTrajectory
GeodesicTrajectory
SO3Trajectory
SE3Trajectory
SE3Trajectory.to_se3()
SE3Trajectory.waypoint()
SE3Trajectory.from_se3()
SE3Trajectory.eval()
SE3Trajectory.deriv()
SE3Trajectory.deriv_screw()
SE3Trajectory.preTransform()
SE3Trajectory.postTransform()
SE3Trajectory.getRotationTrajectory()
SE3Trajectory.getPositionTrajectory()
SE3Trajectory.checkValid()
SE3Trajectory.extractDofs()
SE3Trajectory.constructor()
HermiteTrajectory
HermiteTrajectory.makeSpline()
HermiteTrajectory.makeBezier()
HermiteTrajectory.makeMinTimeSpline()
HermiteTrajectory.waypoint()
HermiteTrajectory.eval_state()
HermiteTrajectory.eval()
HermiteTrajectory.deriv()
HermiteTrajectory.eval_accel()
HermiteTrajectory.interpolate_state()
HermiteTrajectory.difference_state()
HermiteTrajectory.discretize()
HermiteTrajectory.length()
HermiteTrajectory.checkValid()
HermiteTrajectory.extractDofs()
HermiteTrajectory.stackDofs()
HermiteTrajectory.constructor()
GeodesicHermiteTrajectory
GeodesicHermiteTrajectory.makeSpline()
GeodesicHermiteTrajectory.makeBezier()
GeodesicHermiteTrajectory.waypoint()
GeodesicHermiteTrajectory.interpolate_state()
GeodesicHermiteTrajectory.difference_state()
GeodesicHermiteTrajectory.eval_state()
GeodesicHermiteTrajectory.eval()
GeodesicHermiteTrajectory.deriv()
GeodesicHermiteTrajectory.discretize()
GeodesicHermiteTrajectory.length()
GeodesicHermiteTrajectory.checkValid()
GeodesicHermiteTrajectory.extractDofs()
GeodesicHermiteTrajectory.stackDofs()
GeodesicHermiteTrajectory.constructor()
SO3HermiteTrajectory
SE3HermiteTrajectory
SE3HermiteTrajectory.to_se3()
SE3HermiteTrajectory.from_se3()
SE3HermiteTrajectory.waypoint()
SE3HermiteTrajectory.eval()
SE3HermiteTrajectory.deriv()
SE3HermiteTrajectory.deriv_screw()
SE3HermiteTrajectory.preTransform()
SE3HermiteTrajectory.postTransform()
SE3HermiteTrajectory.discretize()
SE3HermiteTrajectory.constructor()
path_to_trajectory()
execute_path()
execute_trajectory()
- klampt.model.types module
- klampt.model.workspace module