Python Bindings

By default, the Python bindings will be built for the default Python version for the corresponding ROS distribution ($ROS_PYTHON_VERSION). 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.ArgumentPosition

Bases: pybind11_builtins.pybind11_object

Members:

ARG0

ARG1

ARG2

ARG3

ARG4

ARG0 = <ArgumentPosition.ARG0: 0>

ARG1 = <ArgumentPosition.ARG1: 1>

ARG2 = <ArgumentPosition.ARG2: 2>

ARG3 = <ArgumentPosition.ARG3: 3>

ARG4 = <ArgumentPosition.ARG4: 4>

property name

class pyexotica.BaseType

Bases: pybind11_builtins.pybind11_object

Members:

Fixed

Floating

Planar

Fixed = <BaseType.Fixed: 0>

Floating = <BaseType.Floating: 10>

Planar = <BaseType.Planar: 20>

property name

class pyexotica.Box

Bases: pyexotica._pyexotica.Shape

name = 'box'

class pyexotica.BoxQPSolution

Bases: pybind11_builtins.pybind11_object

property Hff_inv

property clamped_idx

property free_idx

property x

class pyexotica.CollisionProxy

Bases: pybind11_builtins.pybind11_object

property contact_1

property contact_2

property distance

property normal_1

property normal_2

property object_1

property object_2

property transform_1

property transform_2

class pyexotica.CollisionScene

Bases: pybind11_builtins.pybind11_object

property always_externally_updated_collision_scene

continuous_collision_check(self: pyexotica._pyexotica.CollisionScene, arg0: str, arg1: pyexotica._pyexotica.KDLFrame, arg2: pyexotica._pyexotica.KDLFrame, arg3: str, arg4: pyexotica._pyexotica.KDLFrame, arg5: pyexotica._pyexotica.KDLFrame) → pyexotica._pyexotica.ContinuousCollisionProxy

get_robot_to_robot_collision_distance(self: pyexotica._pyexotica.CollisionScene, arg0: float) → List[pyexotica._pyexotica.CollisionProxy]

get_robot_to_world_collision_distance(self: pyexotica._pyexotica.CollisionScene, arg0: float) → List[pyexotica._pyexotica.CollisionProxy]

get_translation(self: pyexotica._pyexotica.CollisionScene, arg0: str) → numpy.ndarray[numpy.float64[3, 1]]

property replace_cylinders_with_capsules

property replace_primitive_shapes_with_meshes

property robot_link_padding

property robot_link_scale

update_collision_object_transforms(self: pyexotica._pyexotica.CollisionScene) → None

property world_link_padding

property world_link_scale

class pyexotica.Cone

Bases: pyexotica._pyexotica.Shape

property length

name = 'cone'

property radius

class pyexotica.ContinuousCollisionProxy

Bases: pybind11_builtins.pybind11_object

property contact_transform_1

property contact_transform_2

property in_collision

property object_1

property object_2

property time_of_contact

property transform_1

property transform_2

class pyexotica.ControlCostLossTermType

Bases: pybind11_builtins.pybind11_object

Members:

Undefined

L2

SmoothL1

Huber

PseudoHuber

Huber = <ControlCostLossTermType.Huber: 2>

L2 = <ControlCostLossTermType.L2: 0>

PseudoHuber = <ControlCostLossTermType.PseudoHuber: 3>

SmoothL1 = <ControlCostLossTermType.SmoothL1: 1>

Undefined = <ControlCostLossTermType.Undefined: -1>

property name

class pyexotica.Cylinder

Bases: pyexotica._pyexotica.Shape

property length

name = 'cylinder'

property radius

class pyexotica.DynamicsSolver

Bases: pyexotica._pyexotica.Object

F(self: pyexotica._pyexotica.DynamicsSolver, arg0: numpy.ndarray[numpy.float64[m, 1]], arg1: numpy.ndarray[numpy.float64[m, 1]]) → numpy.ndarray[numpy.float64[m, 1]]

compute_derivatives(self: pyexotica._pyexotica.DynamicsSolver, arg0: numpy.ndarray[numpy.float64[m, 1]], arg1: numpy.ndarray[numpy.float64[m, 1]]) → None

property dt

f(self: pyexotica._pyexotica.DynamicsSolver, arg0: numpy.ndarray[numpy.float64[m, 1]], arg1: numpy.ndarray[numpy.float64[m, 1]]) → numpy.ndarray[numpy.float64[m, 1]]

fu(self: pyexotica._pyexotica.DynamicsSolver, arg0: numpy.ndarray[numpy.float64[m, 1]], arg1: numpy.ndarray[numpy.float64[m, 1]]) → numpy.ndarray[numpy.float64[m, n]]

fu_fd(self: pyexotica._pyexotica.DynamicsSolver, arg0: numpy.ndarray[numpy.float64[m, 1]], arg1: numpy.ndarray[numpy.float64[m, 1]]) → numpy.ndarray[numpy.float64[m, n]]

fx(self: pyexotica._pyexotica.DynamicsSolver, arg0: numpy.ndarray[numpy.float64[m, 1]], arg1: numpy.ndarray[numpy.float64[m, 1]]) → numpy.ndarray[numpy.float64[m, n]]

fx_fd(self: pyexotica._pyexotica.DynamicsSolver, arg0: numpy.ndarray[numpy.float64[m, 1]], arg1: numpy.ndarray[numpy.float64[m, 1]]) → numpy.ndarray[numpy.float64[m, n]]

get_Fu(self: pyexotica._pyexotica.DynamicsSolver) → numpy.ndarray[numpy.float64[m, n]]

get_Fx(self: pyexotica._pyexotica.DynamicsSolver) → numpy.ndarray[numpy.float64[m, n]]

get_fu(self: pyexotica._pyexotica.DynamicsSolver) → numpy.ndarray[numpy.float64[m, n]]

get_fx(self: pyexotica._pyexotica.DynamicsSolver) → numpy.ndarray[numpy.float64[m, n]]

get_position(self: pyexotica._pyexotica.DynamicsSolver, arg0: numpy.ndarray[numpy.float64[m, 1]]) → numpy.ndarray[numpy.float64[m, 1]]

property has_second_order_derivatives

integrate(self: pyexotica._pyexotica.DynamicsSolver, arg0: numpy.ndarray[numpy.float64[m, 1]], arg1: numpy.ndarray[numpy.float64[m, 1]], arg2: float) → numpy.ndarray[numpy.float64[m, 1]]

property integrator

property ndx

property nq

property nu

property nv

property nx

simulate(self: pyexotica._pyexotica.DynamicsSolver, arg0: numpy.ndarray[numpy.float64[m, 1]], arg1: numpy.ndarray[numpy.float64[m, 1]], arg2: float) → numpy.ndarray[numpy.float64[m, 1]]

state_delta(self: pyexotica._pyexotica.DynamicsSolver, arg0: numpy.ndarray[numpy.float64[m, 1]], arg1: numpy.ndarray[numpy.float64[m, 1]]) → numpy.ndarray[numpy.float64[m, 1]]

state_delta_derivative(self: pyexotica._pyexotica.DynamicsSolver, arg0: numpy.ndarray[numpy.float64[m, 1]], arg1: numpy.ndarray[numpy.float64[m, 1]], arg2: exotica::ArgumentPosition) → numpy.ndarray[numpy.float64[m, n]]

state_delta_second_derivative(self: pyexotica._pyexotica.DynamicsSolver, arg0: numpy.ndarray[numpy.float64[m, 1]], arg1: numpy.ndarray[numpy.float64[m, 1]], arg2: exotica::ArgumentPosition) → Hessian

class pyexotica.EndPoseTask

Bases: pybind11_builtins.pybind11_object

property Phi

property S

get_S(self: pyexotica._pyexotica.EndPoseTask, arg0: str) → numpy.ndarray[numpy.float64[m, n]]

get_goal(self: pyexotica._pyexotica.EndPoseTask, arg0: str) → numpy.ndarray[numpy.float64[m, 1]]

get_rho(self: pyexotica._pyexotica.EndPoseTask, arg0: str) → float

get_task_error(self: pyexotica._pyexotica.EndPoseTask, arg0: str) → numpy.ndarray[numpy.float64[m, 1]]

get_task_jacobian(self: pyexotica._pyexotica.EndPoseTask, arg0: str) → numpy.ndarray[numpy.float64[m, n]]

property jacobian

property length_Phi

property length_jacobian

property num_tasks

set_goal(self: pyexotica._pyexotica.EndPoseTask, arg0: str, arg1: numpy.ndarray[numpy.float64[m, 1]]) → None

set_rho(self: pyexotica._pyexotica.EndPoseTask, arg0: str, arg1: float) → None

property task_maps

property tasks

property y

property ydiff

class pyexotica.FeedbackMotionSolver

Bases: pyexotica._pyexotica.MotionSolver

get_feedback_control(self: pyexotica._pyexotica.FeedbackMotionSolver, arg0: numpy.ndarray[numpy.float64[m, 1]], arg1: int) → numpy.ndarray[numpy.float64[m, 1]]

class pyexotica.Integrator

Bases: pybind11_builtins.pybind11_object

Members:

RK1

SymplecticEuler

RK2

RK4

RK1 = <Integrator.RK1: 0>

RK2 = <Integrator.RK2: 2>

RK4 = <Integrator.RK4: 3>

SymplecticEuler = <Integrator.SymplecticEuler: 1>

property name

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

static diff(arg0: pyexotica._pyexotica.KDLFrame, arg1: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[numpy.float64[m, 1]]

get_angle_axis(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[numpy.float64[m, 1]]

get_frame(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[numpy.float64[m, n]]

get_quaternion(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[numpy.float64[m, 1]]

get_rpy(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[numpy.float64[m, 1]]

get_translation(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[numpy.float64[3, 1]]

get_translation_and_angle_axis(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[numpy.float64[m, 1]]

get_translation_and_quaternion(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[numpy.float64[m, 1]]

get_translation_and_rpy(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[numpy.float64[m, 1]]

get_translation_and_zyx(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[numpy.float64[m, 1]]

get_translation_and_zyz(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[numpy.float64[m, 1]]

get_zyx(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[numpy.float64[m, 1]]

get_zyz(self: pyexotica._pyexotica.KDLFrame) → numpy.ndarray[numpy.float64[m, 1]]

static interpolate(arg0: pyexotica._pyexotica.KDLFrame, arg1: pyexotica._pyexotica.KDLFrame, arg2: float) → pyexotica._pyexotica.KDLFrame

inverse(self: pyexotica._pyexotica.KDLFrame) → pyexotica._pyexotica.KDLFrame

property p

class pyexotica.KDLRigidBodyInertia

Bases: pybind11_builtins.pybind11_object

static Zero() → pyexotica._pyexotica.KDLRigidBodyInertia

class pyexotica.KDLRotationalInertia

Bases: pybind11_builtins.pybind11_object

static Zero() → pyexotica._pyexotica.KDLRotationalInertia

class pyexotica.KDLVector

Bases: pybind11_builtins.pybind11_object

static Zero() → pyexotica._pyexotica.KDLVector

x(self: pyexotica._pyexotica.KDLVector) → float

y(self: pyexotica._pyexotica.KDLVector) → float

z(self: pyexotica._pyexotica.KDLVector) → float

class pyexotica.Mesh

Bases: pyexotica._pyexotica.Shape

computeTriangleNormals(self: pyexotica._pyexotica.Mesh) → None

computeVertexNormals(self: pyexotica._pyexotica.Mesh) → None

mergeVertices(self: pyexotica._pyexotica.Mesh, arg0: float) → None

property triangle_count

property vertex_count

class pyexotica.MotionSolver

Bases: pyexotica._pyexotica.Object

get_planning_time(self: pyexotica._pyexotica.MotionSolver) → float

get_problem(self: pyexotica._pyexotica.MotionSolver) → exotica::PlanningProblem

property max_iterations

solve(self: pyexotica._pyexotica.MotionSolver) → numpy.ndarray[numpy.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

property debug_mode

property name

Object name

property namespace

property type

Object type

class pyexotica.OcTree

Bases: pyexotica._pyexotica.Shape

class pyexotica.Plane

Bases: pyexotica._pyexotica.Shape

property a

property b

property c

property d

isFixed(self: pyexotica._pyexotica.Plane) → bool

name = 'plane'

class pyexotica.PlanningProblem

Bases: pyexotica._pyexotica.Object

property N

apply_start_state(self: pyexotica._pyexotica.PlanningProblem, arg0: bool) → numpy.ndarray[numpy.float64[m, 1]]

get_cost_evolution(self: pyexotica._pyexotica.PlanningProblem) → Tuple[List[float], List[float]]

get_number_of_iterations(self: pyexotica._pyexotica.PlanningProblem) → int

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[str, pyexotica._pyexotica.TaskMap]

get_tasks(self: pyexotica._pyexotica.PlanningProblem) → List[pyexotica._pyexotica.TaskMap]

is_valid(self: pyexotica._pyexotica.PlanningProblem) → bool

property num_controls

property num_positions

property num_velocities

pre_update(self: pyexotica._pyexotica.PlanningProblem) → None

reset_number_of_problem_updates(self: pyexotica._pyexotica.PlanningProblem) → None

property start_state

property start_time

property termination_criterion

class pyexotica.RotationType

Bases: pybind11_builtins.pybind11_object

Members:

Quaternion

RPY

ZYZ

ZYX

AngleAxis

Matrix

AngleAxis = <RotationType.AngleAxis: 4>

Matrix = <RotationType.Matrix: 5>

Quaternion = <RotationType.Quaternion: 0>

RPY = <RotationType.RPY: 1>

ZYX = <RotationType.ZYX: 2>

ZYZ = <RotationType.ZYZ: 3>

property name

class pyexotica.SamplingTask

Bases: pybind11_builtins.pybind11_object

property Phi

property S

get_goal(self: pyexotica._pyexotica.SamplingTask, arg0: str) → numpy.ndarray[numpy.float64[m, 1]]

get_rho(self: pyexotica._pyexotica.SamplingTask, arg0: str) → float

property length_Phi

property length_jacobian

property num_tasks

set_goal(self: pyexotica._pyexotica.SamplingTask, arg0: str, arg1: numpy.ndarray[numpy.float64[m, 1]]) → None

set_rho(self: pyexotica._pyexotica.SamplingTask, arg0: str, arg1: float) → None

property task_maps

property tasks

property y

property ydiff

class pyexotica.Scene

Bases: pyexotica._pyexotica.Object

add_object(*args, **kwargs)

Overloaded function.

1. add_object(self: pyexotica._pyexotica.Scene, name: str, transform: pyexotica._pyexotica.KDLFrame = KDL::Frame ([0.000000 0.000000 0.000000] [0.000000 0.000000 0.000000 1.000000]), parent: str = ‘’, shape_resource_path: str, scale: numpy.ndarray[numpy.float64[3, 1]] = array([1., 1., 1.]), color: numpy.ndarray[numpy.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: str, transform: pyexotica._pyexotica.KDLFrame = KDL::Frame ([0.000000 0.000000 0.000000] [0.000000 0.000000 0.000000 1.000000]), parent: str = ‘’, shape: shapes::Shape, inertia: pyexotica._pyexotica.KDLRigidBodyInertia = <pyexotica._pyexotica.KDLRigidBodyInertia object at 0x7fe4180c32f0>, color: numpy.ndarray[numpy.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: str, 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[numpy.float64[4, 1]] = array([0.5, 0.5, 0.5, 1. ]), update_collision_scene: bool = True) → None

add_trajectory(self: pyexotica._pyexotica.Scene, arg0: str, arg1: str) → None

add_trajectory_from_array(self: pyexotica._pyexotica.Scene, link: str, data: numpy.ndarray[numpy.float64[m, n]], radius: float) → None

add_trajectory_from_file(self: pyexotica._pyexotica.Scene, arg0: str, arg1: str) → None

attach_object(self: pyexotica._pyexotica.Scene, arg0: str, arg1: str) → None

attach_object_local(*args, **kwargs)

Overloaded function.

1. attach_object_local(self: pyexotica._pyexotica.Scene, arg0: str, arg1: str, arg2: pyexotica._pyexotica.KDLFrame) -> None

2. attach_object_local(self: pyexotica._pyexotica.Scene, arg0: str, arg1: str, arg2: numpy.ndarray[numpy.float64[m, 1]]) -> None

clean_scene(self: pyexotica._pyexotica.Scene) → None

property controlled_joint_to_collision_link_map

detach_object(self: pyexotica._pyexotica.Scene, arg0: str) → None

fk(*args, **kwargs)

Overloaded function.

1. fk(self: pyexotica._pyexotica.Scene, arg0: str, arg1: pyexotica._pyexotica.KDLFrame, arg2: str, arg3: pyexotica._pyexotica.KDLFrame) -> pyexotica._pyexotica.KDLFrame

2. fk(self: pyexotica._pyexotica.Scene, arg0: str, arg1: str) -> pyexotica._pyexotica.KDLFrame

3. fk(self: pyexotica._pyexotica.Scene, arg0: str) -> pyexotica._pyexotica.KDLFrame

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: str, object_2: str) -> List[pyexotica._pyexotica.CollisionProxy]

3. get_collision_distance(self: pyexotica._pyexotica.Scene, object_1: str, check_self_collision: bool = True) -> List[pyexotica._pyexotica.CollisionProxy]

4. get_collision_distance(self: pyexotica._pyexotica.Scene, objects: List[str], check_self_collision: bool = True) -> List[pyexotica._pyexotica.CollisionProxy]

get_collision_robot_links(self: pyexotica._pyexotica.Scene) → List[str]

get_collision_scene(self: pyexotica._pyexotica.Scene) → exotica::CollisionScene

get_collision_world_links(self: pyexotica._pyexotica.Scene) → List[str]

get_controlled_joint_names(self: pyexotica._pyexotica.Scene) → List[str]

get_controlled_link_names(self: pyexotica._pyexotica.Scene) → List[str]

get_controlled_state(self: pyexotica._pyexotica.Scene) → numpy.ndarray[numpy.float64[m, 1]]

get_dynamics_solver(self: pyexotica._pyexotica.Scene) → exotica::AbstractDynamicsSolver<double, -1, -1>

get_kinematic_tree(self: pyexotica._pyexotica.Scene) → exotica::KinematicTree

get_model_joint_names(self: pyexotica._pyexotica.Scene) → List[str]

get_model_link_names(self: pyexotica._pyexotica.Scene) → List[str]

get_model_state(self: pyexotica._pyexotica.Scene) → numpy.ndarray[numpy.float64[m, 1]]

get_model_state_map(self: pyexotica._pyexotica.Scene) → Dict[str, float]

get_root_frame_name(self: pyexotica._pyexotica.Scene) → str

get_root_joint_name(self: pyexotica._pyexotica.Scene) → str

get_scene(self: pyexotica._pyexotica.Scene) → str

get_trajectory(self: pyexotica._pyexotica.Scene, arg0: str) → str

get_tree_names(self: pyexotica._pyexotica.Scene) → List[str]

has_attached_object(self: pyexotica._pyexotica.Scene, arg0: str) → bool

property has_quaternion_floating_base

hessian(*args, **kwargs)

Overloaded function.

1. hessian(self: pyexotica._pyexotica.Scene, arg0: str, arg1: pyexotica._pyexotica.KDLFrame, arg2: str, arg3: pyexotica._pyexotica.KDLFrame) -> Hessian

2. hessian(self: pyexotica._pyexotica.Scene, arg0: str, arg1: str) -> Hessian

3. hessian(self: pyexotica._pyexotica.Scene, arg0: str) -> Hessian

is_allowed_to_collide(self: pyexotica._pyexotica.Scene, object_1: str, object_2: str, check_self_collision: bool = True) → bool

is_collision_free(self: pyexotica._pyexotica.Scene, object_1: str, object_2: str, 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: str, arg1: pyexotica._pyexotica.KDLFrame, arg2: str, arg3: pyexotica._pyexotica.KDLFrame) -> numpy.ndarray[numpy.float64[m, n]]

2. jacobian(self: pyexotica._pyexotica.Scene, arg0: str, arg1: str) -> numpy.ndarray[numpy.float64[m, n]]

3. jacobian(self: pyexotica._pyexotica.Scene, arg0: str) -> numpy.ndarray[numpy.float64[m, n]]

load_scene(self: pyexotica._pyexotica.Scene, scene_string: str, 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: str, 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

property model_link_to_collision_link_map

property num_controls

property num_positions

property num_state

property num_state_derivative

property num_velocities

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: str) → None

remove_trajectory(self: pyexotica._pyexotica.Scene, arg0: str) → None

set_model_state(self: pyexotica._pyexotica.Scene, x: numpy.ndarray[numpy.float64[m, 1]], t: float = 0.0, update_trajectory: bool = False) → None

set_model_state_map(self: pyexotica._pyexotica.Scene, x: Dict[str, float], t: float = 0.0, update_trajectory: bool = False) → None

update(self: pyexotica._pyexotica.Scene, x: numpy.ndarray[numpy.float64[m, 1]], t: float = 0.0) → None

update_collision_objects(self: pyexotica._pyexotica.Scene) → None

update_planning_scene(self: pyexotica._pyexotica.Scene, arg0: genpy.Message) → None

update_planning_scene_world(self: pyexotica._pyexotica.Scene, arg0: genpy.Message) → None

update_scene_frames(self: pyexotica._pyexotica.Scene) → None

property world_links_to_exclude_from_collision_scene

class pyexotica.Setup

Bases: pybind11_builtins.pybind11_object

static create_dynamics_solver(arg0: Initializer) → exotica::AbstractDynamicsSolver<double, -1, -1>

static create_problem(arg0: Initializer) → exotica::PlanningProblem

static create_scene(arg0: Initializer) → exotica::Scene

static create_solver(arg0: Initializer) → exotica::MotionSolver

static get_collision_scenes() → List[str]

Returns a list of available collision scene plug-ins.

static get_dynamics_solvers() → List[str]

Returns a list of available dynamics solvers plug-ins.

static get_initializers() → List[Initializer]

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

static get_maps() → List[str]

Returns a list of available task maps.

static get_package_path(arg0: str) → str

ROS package path resolution.

static get_problems() → List[str]

Returns a list of available problems.

static get_solvers() → List[str]

Returns a list of available solvers.

static init_ros(name: str = '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.

static load_problem(filepath: str) → exotica::PlanningProblem

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

static load_solver(filepath: str) → exotica::MotionSolver

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

static load_solver_standalone(filepath: str) → exotica::MotionSolver

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

static 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

property type

class pyexotica.ShapeType

Bases: pybind11_builtins.pybind11_object

Members:

UNKNOWN_SHAPE

SPHERE

CYLINDER

CONE

BOX

PLANE

MESH

OCTREE

BOX = <ShapeType.BOX: 4>

CONE = <ShapeType.CONE: 3>

CYLINDER = <ShapeType.CYLINDER: 2>

MESH = <ShapeType.MESH: 6>

OCTREE = <ShapeType.OCTREE: 7>

PLANE = <ShapeType.PLANE: 5>

SPHERE = <ShapeType.SPHERE: 1>

UNKNOWN_SHAPE = <ShapeType.UNKNOWN_SHAPE: 0>

property name

class pyexotica.Sphere

Bases: pyexotica._pyexotica.Shape

name = 'sphere'

property radius

class pyexotica.TaskIndexing

Bases: pybind11_builtins.pybind11_object

property id

property length

property lengthJ

property start

property startJ

class pyexotica.TaskMap

Bases: pyexotica._pyexotica.Object

property id

property length

property lengthJ

property start

property startJ

task_space_dim(self: pyexotica._pyexotica.TaskMap) → int

task_space_jacobian_dim(self: pyexotica._pyexotica.TaskMap) → int

class pyexotica.TaskSpaceVector

Bases: pybind11_builtins.pybind11_object

property data

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

class pyexotica.TerminationCriterion

Bases: pybind11_builtins.pybind11_object

Members:

NotStarted

IterationLimit

BacktrackIterationLimit

StepTolerance

FunctionTolerance

GradientTolerance

Divergence

UserDefined

Convergence

BacktrackIterationLimit = <TerminationCriterion.BacktrackIterationLimit: 1>

Convergence = <TerminationCriterion.Convergence: 7>

Divergence = <TerminationCriterion.Divergence: 5>

FunctionTolerance = <TerminationCriterion.FunctionTolerance: 3>

GradientTolerance = <TerminationCriterion.GradientTolerance: 4>

IterationLimit = <TerminationCriterion.IterationLimit: 0>

NotStarted = <TerminationCriterion.NotStarted: -1>

StepTolerance = <TerminationCriterion.StepTolerance: 2>

UserDefined = <TerminationCriterion.UserDefined: 6>

property name

class pyexotica.TimeIndexedTask

Bases: pybind11_builtins.pybind11_object

property Phi

property S

property T

property dPhi_du

property dPhi_dx

property ddPhi_ddu

property ddPhi_ddx

property ddPhi_dxdu

get_S(self: pyexotica._pyexotica.TimeIndexedTask, arg0: str, arg1: int) → numpy.ndarray[numpy.float64[m, n]]

get_goal(self: pyexotica._pyexotica.TimeIndexedTask, arg0: str, arg1: int) → numpy.ndarray[numpy.float64[m, 1]]

get_rho(self: pyexotica._pyexotica.TimeIndexedTask, arg0: str, arg1: int) → float

get_task_error(self: pyexotica._pyexotica.TimeIndexedTask, arg0: str, arg1: int) → numpy.ndarray[numpy.float64[m, 1]]

property hessian

property indexing

property jacobian

property length_Phi

property length_jacobian

property num_tasks

property rho

set_goal(self: pyexotica._pyexotica.TimeIndexedTask, arg0: str, arg1: numpy.ndarray[numpy.float64[m, 1]], arg2: int) → None

set_rho(self: pyexotica._pyexotica.TimeIndexedTask, arg0: str, arg1: float, arg2: int) → None

property task_maps

property tasks

property y

property ydiff

class pyexotica.Timer

Bases: pybind11_builtins.pybind11_object

get_duration(self: pyexotica._pyexotica.Timer) → float

reset(self: pyexotica._pyexotica.Timer) → None

class pyexotica.VisualizationMeshcat

Bases: pybind11_builtins.pybind11_object

delete(self: pyexotica._pyexotica.VisualizationMeshcat, path: str = '') → None

display_scene(self: pyexotica._pyexotica.VisualizationMeshcat, use_mesh_materials: bool = True) → None

display_state(self: pyexotica._pyexotica.VisualizationMeshcat, state: numpy.ndarray[numpy.float64[m, 1]], t: float = 0.0) → None

display_trajectory(self: pyexotica._pyexotica.VisualizationMeshcat, trajectory: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], dt: float = 1.0) → None

get_file_url(self: pyexotica._pyexotica.VisualizationMeshcat) → str

get_web_url(self: pyexotica._pyexotica.VisualizationMeshcat) → str

set_property(*args, **kwargs)

Overloaded function.

1. set_property(self: pyexotica._pyexotica.VisualizationMeshcat, path: str, property: str, value: float) -> None

2. set_property(self: pyexotica._pyexotica.VisualizationMeshcat, path: str, property: str, value: str) -> None

3. set_property(self: pyexotica._pyexotica.VisualizationMeshcat, path: str, property: str, value: bool) -> None

4. set_property(self: pyexotica._pyexotica.VisualizationMeshcat, path: str, property: str, value: numpy.ndarray[numpy.float64[3, 1]]) -> None

5. set_property(self: pyexotica._pyexotica.VisualizationMeshcat, path: str, property: str, value: numpy.ndarray[numpy.float64[4, 1]]) -> None

class pyexotica.VisualizationMoveIt

Bases: pybind11_builtins.pybind11_object

display_trajectory(self: pyexotica._pyexotica.VisualizationMoveIt, arg0: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous]) → None

pyexotica.box_qp(H: numpy.ndarray[numpy.float64[m, n]], q: numpy.ndarray[numpy.float64[m, 1]], b_low: numpy.ndarray[numpy.float64[m, 1]], b_high: numpy.ndarray[numpy.float64[m, 1]], x_init: numpy.ndarray[numpy.float64[m, 1]], gamma: float, max_iterations: int, epsilon: float, lambda: float, use_polynomial_linesearch: bool = True, use_cholesky_factorization: bool = True) → pyexotica._pyexotica.BoxQPSolution

pyexotica.box_qp_old(H: numpy.ndarray[numpy.float64[m, n]], q: numpy.ndarray[numpy.float64[m, 1]], b_low: numpy.ndarray[numpy.float64[m, 1]], b_high: numpy.ndarray[numpy.float64[m, 1]], x_init: numpy.ndarray[numpy.float64[m, 1]], gamma: float, max_iterations: int, epsilon: float, lambda: float, use_polynomial_linesearch: bool = False, use_cholesky_factorization: bool = False) → pyexotica._pyexotica.BoxQPSolution

pyexotica.check_dynamics_solver_derivatives(name, urdf=None, srdf=None, joint_group=None, additional_args=None, do_test_integrators=True)

pyexotica.check_trajectory_continuous_time(scene, trajectory)

pyexotica.check_whether_trajectory_is_collision_free_by_subsampling(scene, trajectory, num_subsamples=10, debug=False)

num_subsamples specifies how many steps are checked between two configurations. Returns True if trajectory is collision-free, and False otherwise.

TODO: Support setting time for Scene update.

pyexotica.get_colliding_links(scene, margin=0.0, safe_distance=0.0, check_self_collision=True, debug=False)

pyexotica.plot(solution, labels=None, yscale=None)

pyexotica.plot_task_cost_over_time(problem)

Plots the task cost (task maps) over time given a problem.

pyexotica.publish_pose(q, problem, t=0.0)

pyexotica.publish_time_indexed_trajectory(traj, Ts, problem, once=False)

pyexotica.publish_trajectory(traj, T, problem, once=False)

pyexotica.show(url, height=50)

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

property 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

property longest_valid_segment_length

property maximum_extent

property 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

property multi_query

setup(self: exotica_ompl_solver_py.PRMSolver) → None

class exotica_ompl_solver_py.RRTConnectSolver

Bases: exotica_ompl_solver_py.OMPLMotionSolver

property 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.CollisionDistance

Bases: pyexotica._pyexotica.TaskMap

get_collision_proxies(self: exotica_core_task_maps_py.CollisionDistance) → List[pyexotica._pyexotica.CollisionProxy]

class exotica_core_task_maps_py.ControlRegularization

Bases: pyexotica._pyexotica.TaskMap

property joint_map

property joint_ref

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: str) → numpy.ndarray[numpy.float64[3, 1]]

get_direction(self: exotica_core_task_maps_py.EffAxisAlignment, arg0: str) → numpy.ndarray[numpy.float64[3, 1]]

set_axis(self: exotica_core_task_maps_py.EffAxisAlignment, arg0: str, arg1: numpy.ndarray[numpy.float64[3, 1]]) → None

set_direction(self: exotica_core_task_maps_py.EffAxisAlignment, arg0: str, arg1: numpy.ndarray[numpy.float64[3, 1]]) → None

class exotica_core_task_maps_py.EffBox

Bases: pyexotica._pyexotica.TaskMap

get_lower_limit(self: exotica_core_task_maps_py.EffBox, arg0: int) → numpy.ndarray[numpy.float64[3, 1]]

get_upper_limit(self: exotica_core_task_maps_py.EffBox, arg0: int) → numpy.ndarray[numpy.float64[3, 1]]

class exotica_core_task_maps_py.EffFrame

Bases: pyexotica._pyexotica.TaskMap

property rotation_type

class exotica_core_task_maps_py.EffOrientation

Bases: pyexotica._pyexotica.TaskMap

property rotation_type

class exotica_core_task_maps_py.EffPosition

Bases: pyexotica._pyexotica.TaskMap

class exotica_core_task_maps_py.InteractionMesh

Bases: pyexotica._pyexotica.TaskMap

property W

static compute_goal_laplace(arg0: List[pyexotica._pyexotica.KDLFrame], arg1: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous]) → numpy.ndarray[numpy.float64[m, 1]]

static compute_laplace(arg0: numpy.ndarray[numpy.float64[m, 1]], arg1: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous]) → numpy.ndarray[numpy.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[numpy.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[numpy.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

property joint_map

property joint_ref

class exotica_core_task_maps_py.JointTorqueMinimizationProxy

Bases: pyexotica._pyexotica.TaskMap

property h

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[numpy.float64[m, 1]]) → None

class exotica_core_task_maps_py.JointVelocityLimitConstraint

Bases: pyexotica._pyexotica.TaskMap

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

class exotica_core_task_maps_py.PointToLine

Bases: pyexotica._pyexotica.TaskMap

property end_point

class exotica_core_task_maps_py.SphereCollision

Bases: pyexotica._pyexotica.TaskMap

Exotica ILQR Solver

class exotica_ilqr_solver_py.ILQRSolver

Bases: pyexotica._pyexotica.FeedbackMotionSolver

Exotica DDP Solver

class exotica_ddp_solver_py.AbstractDDPSolver

Bases: pyexotica._pyexotica.FeedbackMotionSolver

property K

property Qu

property Quu

property Quu_inv

property Qux

property Qx

property Qxx

property U_ref

property U_try

property Vx

property Vxx

property X_ref

property X_try

property control_cost_evolution

property fu

property fx

property k

property regularization_evolution

property steplength_evolution

class exotica_ddp_solver_py.AnalyticDDPSolver

Bases: exotica_ddp_solver_py.AbstractDDPSolver

class exotica_ddp_solver_py.ControlLimitedDDPSolver

Bases: exotica_ddp_solver_py.AbstractDDPSolver

class exotica_ddp_solver_py.ControlLimitedFeasibilityDrivenDDPSolver

Bases: exotica_ddp_solver_py.AbstractDDPSolver

class exotica_ddp_solver_py.FeasibilityDrivenDDPSolver

Bases: exotica_ddp_solver_py.AbstractDDPSolver

property fs

property us

property xs

Exotica ILQG Solver

class exotica_ilqg_solver_py.ILQGSolver

Bases: pyexotica._pyexotica.FeedbackMotionSolver