newton.sim

Submodules

ik

Classes

CollisionPipeline
Contacts	Provides contact information to be consumed by a solver.
Control	Time-varying control data for a Model.
Model	Holds the definition of the simulation model
ModelBuilder	A helper class for building simulation models at runtime.
ShapeGeometry	Represents the geometry of a shape.
ShapeMaterials	Represents the contact material properties of a shape.
State	Time-varying state data for a Model.
Style3DModel	Style3DModel derived from newton model, contains extended simulation attributes.
Style3DModelBuilder	A helper class for building style3d simulation models at runtime.

Functions

color_graph(num_nodes, graph_edge_indices[, ...])	A function that generates coloring for a graph, which is represented by the number of nodes and an array of edges.
count_rigid_contact_points(model)	Counts the maximum number of rigid contact points that need to be allocated.
eval_fk(model, joint_q, joint_qd, state[, mask])	Evaluates the model's forward kinematics given the joint coordinates and updates the state's body information (State.body_q and State.body_qd).
eval_ik(model, state, joint_q, joint_qd)	Evaluates the model's inverse kinematics given the state's body information (State.body_q and State.body_qd) and updates the generalized joint coordinates joint_q and joint_qd.
get_joint_dof_count(joint_type, num_axes)	Return the number of degrees of freedom in position and velocity for a given joint type.
plot_graph(vertices, edges[, edge_labels])	Plots a graph using matplotlib and networkx.

Constants

Name	Value
JOINT_BALL	2
JOINT_D6	6
JOINT_DISTANCE	5
JOINT_FIXED	3
JOINT_FREE	4
JOINT_MODE_NONE	0
JOINT_MODE_TARGET_POSITION	1
JOINT_MODE_TARGET_VELOCITY	2
JOINT_PRISMATIC	0
JOINT_REVOLUTE	1
NOTIFY_FLAG_BODY_INERTIAL_PROPERTIES	16
NOTIFY_FLAG_BODY_PROPERTIES	8
NOTIFY_FLAG_DOF_PROPERTIES	4
NOTIFY_FLAG_JOINT_AXIS_PROPERTIES	2
NOTIFY_FLAG_JOINT_PROPERTIES	1
NOTIFY_FLAG_SHAPE_PROPERTIES	32