Python Bindings

By default, the Python bindings will be compiled for 2.7. In order to build for different versions of Python you can specify PYBIND_PYTHON_EXECUTABLE in the additional CMake arguments of your catkin workspace:

catkin config --cmake-args -DPYBIND_PYTHON_EXECUTABLE=/usr/bin/python3
class pyexotica.BaseType

Bases: pybind11_builtins.pybind11_object

Fixed = BaseType.Fixed
Floating = BaseType.Floating
Planar = BaseType.Planar
class pyexotica.Box

Bases: pyexotica._pyexotica.Shape

name = u'box'
scaleAndPadd(self: pyexotica._pyexotica.Box, arg0: float, arg1: float) → None
class pyexotica.CollisionProxy

Bases: pybind11_builtins.pybind11_object

contact_1
contact_2
distance
normal_1
normal_2
object_1
object_2
transform_1
transform_2
class pyexotica.CollisionScene

Bases: pybind11_builtins.pybind11_object

always_externally_updated_collision_scene
continuous_collision_check(self: pyexotica._pyexotica.CollisionScene, arg0: unicode, arg1: pyexotica._pyexotica.KDLFrame, arg2: pyexotica._pyexotica.KDLFrame, arg3: unicode, arg4: pyexotica._pyexotica.KDLFrame, arg5: pyexotica._pyexotica.KDLFrame) → pyexotica._pyexotica.ContinuousCollisionProxy
replace_cylinders_with_capsules
replace_primitive_shapes_with_meshes
update_collision_object_transforms(self: pyexotica._pyexotica.CollisionScene) → None
class pyexotica.Cone

Bases: pyexotica._pyexotica.Shape

length
name = u'cone'
radius
scaleAndPadd(self: pyexotica._pyexotica.Cone, arg0: float, arg1: float) → None
class pyexotica.ContinuousCollisionProxy

Bases: pybind11_builtins.pybind11_object

contact_transform_1
contact_transform_2
in_collision
object_1
object_2
time_of_contact
transform_1
transform_2
class pyexotica.Cylinder

Bases: pyexotica._pyexotica.Shape

length
name = u'cylinder'
radius
scaleAndPadd(self: pyexotica._pyexotica.Cylinder, arg0: float, arg1: float) → None
class pyexotica.EndPoseTask

Bases: pybind11_builtins.pybind11_object

Phi
S
jacobian
length_Phi
length_jacobian
num_tasks
task_maps
tasks
y
ydiff
class pyexotica.InteractiveCostTuning(problem)

Bases: object

mainloop()

Starts tk mainloop.

quit_button()

Quits interactive cost tuning.

reset_button()

Resets entries/exotica to original cost terms as specified in xml.

save_button()

Saves current rho parameters in entries to file in home dir.

set_button()

Sets rho parameters in entries into Exotica problem.

class pyexotica.KDLFrame

Bases: pybind11_builtins.pybind11_object

get_angle_axis(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[float64[m, 1]]
get_frame(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[float64[m, n]]
get_quaternion(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[float64[m, 1]]
get_rpy(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[float64[m, 1]]
get_translation(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[float64[3, 1]]
get_translation_and_angle_axis(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[float64[m, 1]]
get_translation_and_quaternion(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[float64[m, 1]]
get_translation_and_rpy(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[float64[m, 1]]
get_translation_and_zyx(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[float64[m, 1]]
get_translation_and_zyz(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[float64[m, 1]]
get_zyx(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[float64[m, 1]]
get_zyz(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[float64[m, 1]]
inverse(self: pyexotica._pyexotica.KDLFrame) → pyexotica._pyexotica.KDLFrame
p
class pyexotica.KDLRigidBodyInertia

Bases: pybind11_builtins.pybind11_object

Zero() → pyexotica._pyexotica.KDLRigidBodyInertia
class pyexotica.KDLRotationalInertia

Bases: pybind11_builtins.pybind11_object

Zero() → pyexotica._pyexotica.KDLRotationalInertia
class pyexotica.KDLVector

Bases: pybind11_builtins.pybind11_object

Zero() → pyexotica._pyexotica.KDLVector
x(self: pyexotica._pyexotica.KDLVector) → float
y(self: pyexotica._pyexotica.KDLVector) → float
z(self: pyexotica._pyexotica.KDLVector) → float
class pyexotica.MotionSolver

Bases: pyexotica._pyexotica.Object

get_planning_time(self: pyexotica._pyexotica.MotionSolver) → float
get_problem(self: pyexotica._pyexotica.MotionSolver) → exotica::PlanningProblem
max_iterations
solve(self: pyexotica._pyexotica.MotionSolver) → numpy.ndarray[float64[m, n]]

Solve the problem

specify_problem(self: pyexotica._pyexotica.MotionSolver, planning_problem: exotica::PlanningProblem) → None

Assign problem to the solver

class pyexotica.Object

Bases: pybind11_builtins.pybind11_object

debug_mode
name

Object name

namespace
type

Object type

class pyexotica.Plane

Bases: pyexotica._pyexotica.Shape

a
b
c
d
isFixed(self: pyexotica._pyexotica.Plane) → bool
name = u'plane'
scaleAndPadd(self: pyexotica._pyexotica.Plane, arg0: float, arg1: float) → None
class pyexotica.PlanningProblem

Bases: pyexotica._pyexotica.Object

N
get_cost_evolution(self: pyexotica._pyexotica.PlanningProblem) → Tuple[List[float], List[float]]
get_number_of_problem_updates(self: pyexotica._pyexotica.PlanningProblem) → int
get_scene(self: pyexotica._pyexotica.PlanningProblem) → exotica::Scene
get_task_maps(self: pyexotica._pyexotica.PlanningProblem) → Dict[unicode, pyexotica._pyexotica.TaskMap]
get_tasks(self: pyexotica._pyexotica.PlanningProblem) → List[pyexotica._pyexotica.TaskMap]
is_valid(self: pyexotica._pyexotica.PlanningProblem) → bool
num_controls
num_positions
num_velocities
reset_number_of_problem_updates(self: pyexotica._pyexotica.PlanningProblem) → None
start_state
start_time
class pyexotica.RotationType

Bases: pybind11_builtins.pybind11_object

AngleAxis = RotationType.AngleAxis
Matrix = RotationType.Matrix
Quaternion = RotationType.Quaternion
RPY = RotationType.RPY
ZYX = RotationType.ZYX
ZYZ = RotationType.ZYZ
class pyexotica.SamplingTask

Bases: pybind11_builtins.pybind11_object

Phi
S
length_Phi
length_jacobian
num_tasks
task_maps
tasks
y
ydiff
class pyexotica.Scene

Bases: pyexotica._pyexotica.Object

add_object(*args, **kwargs)

Overloaded function.

  1. add_object(self: pyexotica._pyexotica.Scene, name: unicode, transform: pyexotica._pyexotica.KDLFrame=KDL::Frame ([0.000000 0.000000 0.000000] [0.000000 0.000000 0.000000 1.000000]), parent: unicode=u’‘, shape_resource_path: unicode, scale: numpy.ndarray[float64[3, 1]]=array([ 1., 1., 1.]), color: numpy.ndarray[float64[4, 1]]=array([ 0.5, 0.5, 0.5, 1. ]), update_collision_scene: bool=True) -> None
  2. add_object(self: pyexotica._pyexotica.Scene, name: unicode, transform: pyexotica._pyexotica.KDLFrame=KDL::Frame ([0.000000 0.000000 0.000000] [0.000000 0.000000 0.000000 1.000000]), parent: unicode=u’‘, shape: shapes::Shape, inertia: pyexotica._pyexotica.KDLRigidBodyInertia=<pyexotica._pyexotica.KDLRigidBodyInertia object at 0x7f836bf7dce0>, color: numpy.ndarray[float64[4, 1]]=array([ 0.5, 0.5, 0.5, 1. ]), update_collision_scene: bool=True) -> None
add_object_to_environment(self: pyexotica._pyexotica.Scene, name: unicode, transform: pyexotica._pyexotica.KDLFrame=KDL::Frame ([0.000000 0.000000 0.000000] [0.000000 0.000000 0.000000 1.000000]), shape: shapes::Shape, color: numpy.ndarray[float64[4, 1]]=array([ 0.5, 0.5, 0.5, 1. ]), update_collision_scene: bool=True) → None
add_trajectory(self: pyexotica._pyexotica.Scene, arg0: unicode, arg1: unicode) → None
add_trajectory_from_file(self: pyexotica._pyexotica.Scene, arg0: unicode, arg1: unicode) → None
attach_object(self: pyexotica._pyexotica.Scene, arg0: unicode, arg1: unicode) → None
attach_object_local(self: pyexotica._pyexotica.Scene, arg0: unicode, arg1: unicode, arg2: pyexotica._pyexotica.KDLFrame) → None
clean_scene(self: pyexotica._pyexotica.Scene) → None
detach_object(self: pyexotica._pyexotica.Scene, arg0: unicode) → None
fk(*args, **kwargs)

Overloaded function.

  1. fk(self: pyexotica._pyexotica.Scene, arg0: unicode, arg1: pyexotica._pyexotica.KDLFrame, arg2: unicode, arg3: pyexotica._pyexotica.KDLFrame) -> pyexotica._pyexotica.KDLFrame
  2. fk(self: pyexotica._pyexotica.Scene, arg0: unicode, arg1: unicode) -> pyexotica._pyexotica.KDLFrame
  3. fk(self: pyexotica._pyexotica.Scene, arg0: unicode) -> pyexotica._pyexotica.KDLFrame
get_base_type(self: pyexotica._pyexotica.Scene) → pyexotica._pyexotica.BaseType
get_collision_distance(*args, **kwargs)

Overloaded function.

  1. get_collision_distance(self: pyexotica._pyexotica.Scene, check_self_collision: bool=True) -> List[pyexotica._pyexotica.CollisionProxy]
  2. get_collision_distance(self: pyexotica._pyexotica.Scene, object_1: unicode, object_2: unicode) -> List[pyexotica._pyexotica.CollisionProxy]
  3. get_collision_distance(self: pyexotica._pyexotica.Scene, object_1: unicode, check_self_collision: bool=True) -> List[pyexotica._pyexotica.CollisionProxy]
  4. get_collision_distance(self: pyexotica._pyexotica.Scene, objects: List[unicode], check_self_collision: bool=True) -> List[pyexotica._pyexotica.CollisionProxy]
get_collision_scene(self: pyexotica._pyexotica.Scene) → exotica::CollisionScene
get_controlled_joint_names(self: pyexotica._pyexotica.Scene) → List[unicode]
get_controlled_state(self: pyexotica._pyexotica.Scene) → numpy.ndarray[float64[m, 1]]
get_group_name(self: pyexotica._pyexotica.Scene) → unicode
get_kinematic_tree(self: pyexotica._pyexotica.Scene) → exotica::KinematicTree
get_model_joint_names(self: pyexotica._pyexotica.Scene) → List[unicode]
get_model_state(self: pyexotica._pyexotica.Scene) → numpy.ndarray[float64[m, 1]]
get_model_state_map(self: pyexotica._pyexotica.Scene) → Dict[unicode, float]
get_root_frame_name(self: pyexotica._pyexotica.Scene) → unicode
get_root_joint_name(self: pyexotica._pyexotica.Scene) → unicode
get_scene(self: pyexotica._pyexotica.Scene) → unicode
get_trajectory(self: pyexotica._pyexotica.Scene, arg0: unicode) → unicode
get_tree_names(self: pyexotica._pyexotica.Scene) → List[unicode]
has_attached_object(self: pyexotica._pyexotica.Scene, arg0: unicode) → bool
is_allowed_to_collide(self: pyexotica._pyexotica.Scene, object_1: unicode, object_2: unicode, check_self_collision: bool=True) → bool
is_collision_free(self: pyexotica._pyexotica.Scene, object_1: unicode, object_2: unicode, safe_distance: float=0.0) → bool
is_state_valid(self: pyexotica._pyexotica.Scene, check_self_collision: bool=True, safe_distance: float=0.0) → bool
jacobian(*args, **kwargs)

Overloaded function.

  1. jacobian(self: pyexotica._pyexotica.Scene, arg0: unicode, arg1: pyexotica._pyexotica.KDLFrame, arg2: unicode, arg3: pyexotica._pyexotica.KDLFrame) -> numpy.ndarray[float64[m, n]]
  2. jacobian(self: pyexotica._pyexotica.Scene, arg0: unicode, arg1: unicode) -> numpy.ndarray[float64[m, n]]
  3. jacobian(self: pyexotica._pyexotica.Scene, arg0: unicode) -> numpy.ndarray[float64[m, n]]
load_scene(self: pyexotica._pyexotica.Scene, scene_string: unicode, offset_transform: pyexotica._pyexotica.KDLFrame=KDL::Frame ([0.000000 0.000000 0.000000] [0.000000 0.000000 0.000000 1.000000]), update_collision_scene: bool=True) → None
load_scene_file(self: pyexotica._pyexotica.Scene, file_name: unicode, offset_transform: pyexotica._pyexotica.KDLFrame=KDL::Frame ([0.000000 0.000000 0.000000] [0.000000 0.000000 0.000000 1.000000]), update_collision_scene: bool=True) → None
publish_proxies(self: pyexotica._pyexotica.Scene, arg0: List[pyexotica._pyexotica.CollisionProxy]) → None
publish_scene(self: pyexotica._pyexotica.Scene) → None
remove_object(self: pyexotica._pyexotica.Scene, arg0: unicode) → None
remove_trajectory(self: pyexotica._pyexotica.Scene, arg0: unicode) → None
set_collision_scene(self: pyexotica._pyexotica.Scene, arg0: genpy.Message) → None
set_model_state(self: pyexotica._pyexotica.Scene, x: numpy.ndarray[float64[m, 1]], t: float=0.0, update_trajectory: bool=False) → None
set_model_state_map(self: pyexotica._pyexotica.Scene, x: Dict[unicode, float], t: float=0.0, update_trajectory: bool=False) → None
update(self: pyexotica._pyexotica.Scene, x: numpy.ndarray[float64[m, 1]], t: float=0.0) → None
update_collision_objects(self: pyexotica._pyexotica.Scene) → None
update_planning_scene_world(self: pyexotica._pyexotica.Scene, arg0: genpy.Message) → None
update_scene_frames(self: pyexotica._pyexotica.Scene) → None
class pyexotica.Setup

Bases: pybind11_builtins.pybind11_object

create_problem(arg0: Initializer) → exotica::PlanningProblem
create_scene(arg0: Initializer) → exotica::Scene
create_solver(arg0: Initializer) → exotica::MotionSolver
get_collision_scenes() → List[unicode]

Returns a list of available collision scene plug-ins.

get_dynamics_solvers() → List[unicode]

Returns a list of available dynamics solvers plug-ins.

get_initializers() → List[Initializer]

Returns a list of available initializers with all available parameters/arguments.

get_maps() → List[unicode]

Returns a list of available task maps.

get_package_path(arg0: unicode) → unicode

ROS package path resolution.

get_problems() → List[unicode]

Returns a list of available problems.

get_solvers() → List[unicode]

Returns a list of available solvers.

init_ros(name: unicode=u'exotica', anonymous: bool=False) → None

Initializes an internal ROS node for publishing debug information from Exotica (i.e., activates ROS features). Options are setting the name and whether to spawn an anonymous node.

load_problem(filepath: unicode) → exotica::PlanningProblem

Instantiate only a problem from an XML file containing solely a problem initializer.

load_solver(filepath: unicode) → exotica::MotionSolver

Instantiate solver and problem from an XML file containing both a solver and problem initializer.

load_solver_standalone(filepath: unicode) → exotica::MotionSolver

Instantiate only a solver from an XML file containing solely a solver initializer.

print_supported_classes() → None

Print a list of available plug-ins sorted by class.

class pyexotica.Shape

Bases: pybind11_builtins.pybind11_object

isFixed(self: pyexotica._pyexotica.Shape) → bool
padd(self: pyexotica._pyexotica.Shape, arg0: float) → None
scale(self: pyexotica._pyexotica.Shape, arg0: float) → None
scaleAndPadd(self: pyexotica._pyexotica.Shape, arg0: float, arg1: float) → None
type
class pyexotica.ShapeType

Bases: pybind11_builtins.pybind11_object

BOX = ShapeType.BOX
CONE = ShapeType.CONE
CYLINDER = ShapeType.CYLINDER
MESH = ShapeType.MESH
OCTREE = ShapeType.OCTREE
PLANE = ShapeType.PLANE
SPHERE = ShapeType.SPHERE
UNKNOWN_SHAPE = ShapeType.UNKNOWN_SHAPE
class pyexotica.Sphere

Bases: pyexotica._pyexotica.Shape

name = u'sphere'
radius
scaleAndPadd(self: pyexotica._pyexotica.Sphere, arg0: float, arg1: float) → None
class pyexotica.TaskIndexing

Bases: pybind11_builtins.pybind11_object

id
length
lengthJ
start
startJ
class pyexotica.TaskMap

Bases: pyexotica._pyexotica.Object

id
length
lengthJ
start
startJ
task_Space_jacobian_dim(self: pyexotica._pyexotica.TaskMap) → int
task_space_dim(self: pyexotica._pyexotica.TaskMap) → int
class pyexotica.TaskSpaceVector

Bases: pybind11_builtins.pybind11_object

data
set_zero(self: pyexotica._pyexotica.TaskSpaceVector, arg0: int) → None
class pyexotica.TerminationCriterion

Bases: pybind11_builtins.pybind11_object

BacktrackIterationLimit = TerminationCriterion.BacktrackIterationLimit
Divergence = TerminationCriterion.Divergence
FunctionTolerance = TerminationCriterion.FunctionTolerance
GradientTolerance = TerminationCriterion.GradientTolerance
IterationLimit = TerminationCriterion.IterationLimit
NotStarted = TerminationCriterion.NotStarted
StepTolerance = TerminationCriterion.StepTolerance
UserDefined = TerminationCriterion.UserDefined
class pyexotica.TimeIndexedTask

Bases: pybind11_builtins.pybind11_object

Phi
S
T
indexing
jacobian
length_Phi
length_jacobian
num_tasks
rho
task_maps
tasks
y
ydiff
class pyexotica.Timer

Bases: pybind11_builtins.pybind11_object

get_duration(self: pyexotica._pyexotica.Timer) → float
reset(self: pyexotica._pyexotica.Timer) → None
class pyexotica.Visualization

Bases: pybind11_builtins.pybind11_object

display_trajectory(self: pyexotica._pyexotica.Visualization, arg0: numpy.ndarray[float64[m, n], flags.f_contiguous]) → None
pyexotica.check_trajectory_continuous_time(scene, trajectory)
pyexotica.plot(solution)
pyexotica.publish_pose(q, problem, t=0.0)
pyexotica.publish_time_indexed_trajectory(traj, Ts, problem, once=False)
pyexotica.publish_trajectory(traj, T, problem)
pyexotica.sig_int_handler(signal, frame)

Exotica wrapper of OMPL solvers

class exotica_ompl_solver_py.BKPIECESolver

Bases: exotica_ompl_solver_py.OMPLMotionSolver

class exotica_ompl_solver_py.ESTSolver

Bases: exotica_ompl_solver_py.OMPLMotionSolver

class exotica_ompl_solver_py.KPIECESolver

Bases: exotica_ompl_solver_py.OMPLMotionSolver

class exotica_ompl_solver_py.LazyPRMSolver

Bases: exotica_ompl_solver_py.OMPLMotionSolver

clear(self: exotica_ompl_solver_py.LazyPRMSolver) → None
clear_query(self: exotica_ompl_solver_py.LazyPRMSolver) → None
edge_count(self: exotica_ompl_solver_py.LazyPRMSolver) → int
milestone_count(self: exotica_ompl_solver_py.LazyPRMSolver) → int
multi_query
setup(self: exotica_ompl_solver_py.LazyPRMSolver) → None
class exotica_ompl_solver_py.OMPLMotionSolver

Bases: pyexotica._pyexotica.MotionSolver

GetRandomSeed(self: exotica_ompl_solver_py.OMPLMotionSolver) → int
longest_valid_segment_length
maximum_extent
valid_segment_count_factor
class exotica_ompl_solver_py.PRMSolver

Bases: exotica_ompl_solver_py.OMPLMotionSolver

clear(self: exotica_ompl_solver_py.PRMSolver) → None
clear_query(self: exotica_ompl_solver_py.PRMSolver) → None
edge_count(self: exotica_ompl_solver_py.PRMSolver) → int
expand_roadmap(self: exotica_ompl_solver_py.PRMSolver, arg0: float) → None
grow_roadmap(self: exotica_ompl_solver_py.PRMSolver, arg0: float) → None
milestone_count(self: exotica_ompl_solver_py.PRMSolver) → int
multi_query
setup(self: exotica_ompl_solver_py.PRMSolver) → None
class exotica_ompl_solver_py.RRTConnectSolver

Bases: exotica_ompl_solver_py.OMPLMotionSolver

range
class exotica_ompl_solver_py.RRTSolver

Bases: exotica_ompl_solver_py.OMPLMotionSolver

Exotica task map definitions

class exotica_core_task_maps_py.CenterOfMass

Bases: pyexotica._pyexotica.TaskMap

class exotica_core_task_maps_py.Distance

Bases: pyexotica._pyexotica.TaskMap

class exotica_core_task_maps_py.EffAxisAlignment

Bases: pyexotica._pyexotica.TaskMap

get_axis(self: exotica_core_task_maps_py.EffAxisAlignment, arg0: unicode) → numpy.ndarray[float64[3, 1]]
get_direction(self: exotica_core_task_maps_py.EffAxisAlignment, arg0: unicode) → numpy.ndarray[float64[3, 1]]
set_axis(self: exotica_core_task_maps_py.EffAxisAlignment, arg0: unicode, arg1: numpy.ndarray[float64[3, 1]]) → None
set_direction(self: exotica_core_task_maps_py.EffAxisAlignment, arg0: unicode, arg1: numpy.ndarray[float64[3, 1]]) → None
class exotica_core_task_maps_py.EffFrame

Bases: pyexotica._pyexotica.TaskMap

rotation_type
class exotica_core_task_maps_py.EffOrientation

Bases: pyexotica._pyexotica.TaskMap

rotation_type
class exotica_core_task_maps_py.EffPosition

Bases: pyexotica._pyexotica.TaskMap

class exotica_core_task_maps_py.InteractionMesh

Bases: pyexotica._pyexotica.TaskMap

W
compute_goal_laplace(arg0: List[pyexotica._pyexotica.KDLFrame], arg1: numpy.ndarray[float64[m, n], flags.f_contiguous]) → numpy.ndarray[float64[m, 1]]
compute_laplace(arg0: numpy.ndarray[float64[m, 1]], arg1: numpy.ndarray[float64[m, n], flags.f_contiguous]) → numpy.ndarray[float64[m, 1]]
set_weight(self: exotica_core_task_maps_py.InteractionMesh, arg0: int, arg1: int, arg2: float) → None
class exotica_core_task_maps_py.JointAccelerationBackwardDifference

Bases: pyexotica._pyexotica.TaskMap

set_previous_joint_state(self: exotica_core_task_maps_py.JointAccelerationBackwardDifference, arg0: numpy.ndarray[float64[m, 1]]) → None
class exotica_core_task_maps_py.JointJerkBackwardDifference

Bases: pyexotica._pyexotica.TaskMap

set_previous_joint_state(self: exotica_core_task_maps_py.JointJerkBackwardDifference, arg0: numpy.ndarray[float64[m, 1]]) → None
class exotica_core_task_maps_py.JointLimit

Bases: pyexotica._pyexotica.TaskMap

class exotica_core_task_maps_py.JointPose

Bases: pyexotica._pyexotica.TaskMap

N
joint_map
joint_ref
class exotica_core_task_maps_py.JointVelocityBackwardDifference

Bases: pyexotica._pyexotica.TaskMap

set_previous_joint_state(self: exotica_core_task_maps_py.JointVelocityBackwardDifference, arg0: numpy.ndarray[float64[m, 1]]) → None
class exotica_core_task_maps_py.LookAt

Bases: pyexotica._pyexotica.TaskMap

get_look_at_target_in_world(self: exotica_core_task_maps_py.LookAt, arg0: int) → numpy.ndarray[float64[3, 1]]
class exotica_core_task_maps_py.PointToLine

Bases: pyexotica._pyexotica.TaskMap

end_point
class exotica_core_task_maps_py.SphereCollision

Bases: pyexotica._pyexotica.TaskMap