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Index

A

Accelerometer (class in ars.model.robot.sensors) acos_dot3() (in module ars.utils.mathematical) ActionMap (class in ars.app) actor (Entity attribute) (SimulatedObject attribute) actors (Simulation attribute) ActuatedJoint (class in ars.model.robot.joints) ActuatedJointSensor (class in ars.model.robot.sensors) adapter (Entity attribute), [1] add() (ActionMap method) add3() (in module ars.utils.mathematical) add_axes() (Simulation method) add_ball_socket_joint() (Simulation method) add_basic_simulation_objects() (Simulation method) add_box() (Simulation method) add_capsule() (Simulation method) add_cylinder() (Simulation method) add_fixed_joint() (Simulation method) add_floor() (Simulation method) add_force() (Slider method) add_joint() (Simulation method) add_object() (Engine method), [1] (Simulation method) add_objects_list() (Engine method) add_rotary_joint() (Simulation method) add_slider_joint() (Simulation method) add_sphere() (Simulation method) add_torque() (Rotary method) (SimulatedJoint method) add_trimesh_floor() (Simulation method) add_universal_joint() (Simulation method) angle (Rotary attribute) angle_rate (Rotary attribute) any_sender (BaseSignalSensor attribute) are_geoms_connected() (ars.model.collision.base.Engine class method) (ars.model.collision.ode_adapter.Engine class method) ars.__init__ (module) ars.app (module) ars.constants (module)

ars.exceptions (module) ars.graphics.base (module) ars.graphics.vtk_adapter (module) ars.lib (module) ars.lib.pydispatch (module) ars.lib.pydispatch.dispatcher (module) ars.lib.pydispatch.errors (module) ars.lib.pydispatch.robust (module) ars.lib.pydispatch.robustapply (module) ars.lib.pydispatch.saferef (module) ars.model.collision.base (module) ars.model.collision.ode_adapter (module) ars.model.collision.ode_objects_factories (module) ars.model.collision.signals (module) ars.model.contrib (module) ars.model.geometry (module) ars.model.physics.base (module) ars.model.physics.ode_adapter (module) ars.model.physics.ode_objects_factories (module) ars.model.physics.signals (module) ars.model.robot.joints (module) ars.model.robot.sensors (module) ars.model.robot.signals (module) ars.model.simulator (module) ars.model.simulator.signals (module) ars.utils.containers (module) ars.utils.generic (module) ars.utils.geometry (module) ars.utils.mathematical (module) ars.utils.version (module) ArsError attach_body() (Geom method), [1] attach_geom() (Body method) Axes (class in ars.graphics.base) (class in ars.graphics.vtk_adapter)

B

BACKGROUND_COLOR (Program attribute) BallSocket (class in ars.model.robot.joints) BaseSignalSensor (class in ars.model.robot.sensors) BaseSourceSensor (class in ars.model.robot.sensors) BasicShape (class in ars.model.collision.base) (class in ars.model.collision.ode_adapter) body (BodySensor attribute) Body (class in ars.graphics.base) (class in ars.graphics.vtk_adapter) (class in ars.model.physics.base) (class in ars.model.physics.ode_adapter)

body (SimulatedBody attribute) body1 (Joint attribute) (JointFeedback attribute) body2 (Joint attribute) (JointFeedback attribute) BodySensor (class in ars.model.robot.sensors) BoundMethodWeakref (class in ars.lib.pydispatch.saferef) Box (class in ars.graphics.base) (class in ars.graphics.vtk_adapter) (class in ars.model.collision.base) (class in ars.model.collision.ode_adapter) (class in ars.model.physics.base) (class in ars.model.physics.ode_adapter)

C

calc_acceleration() (in module ars.utils.mathematical) calc_collision() (ars.model.collision.base.Engine class method) (ars.model.collision.ode_adapter.Engine class method) calc_compass_angle() (in module ars.utils.geometry) calc_faces() (HeightfieldTrimesh static method) calc_filename() (ScreenshotRecorder method) calc_inclination() (in module ars.utils.geometry) calc_potential_energy() (Body method) calc_rotation_kinetic_energy() (Body method) calc_rotation_matrix() (in module ars.utils.geometry) calc_translation_kinetic_energy() (Body method) calc_vertices() (ConstantHeightfieldTrimesh static method) calculateKey() (ars.lib.pydispatch.saferef.BoundMethodWeakref class method) call() (ActionMap method) CAMERA_POSITION (Program attribute) Capsule (class in ars.graphics.base) (class in ars.graphics.vtk_adapter) (class in ars.model.collision.base) (class in ars.model.collision.ode_adapter) (class in ars.model.physics.base) (class in ars.model.physics.ode_adapter) clear() (Queue method) clear_closer_contact() (Ray method) clear_contacts() (Ray method) clear_last_contact() (Ray method) collide() (Space method), [1] collision_space (Simulation attribute) Cone (class in ars.graphics.base) (class in ars.graphics.vtk_adapter) (class in ars.model.collision.base) (class in ars.model.physics.base) connect() (in module ars.lib.pydispatch.dispatcher)

ConstantHeightfieldTrimesh (class in ars.model.collision.base) contact_group (NearCallbackArgs attribute) ContactGroup (class in ars.model.collision.base) (class in ars.model.collision.ode_adapter) convert_color() (in module ars.constants) convert_to_list() (Queue method) count() (Queue method) create_ode_box() (in module ars.model.collision.ode_objects_factories) (in module ars.model.physics.ode_objects_factories) create_ode_capsule() (in module ars.model.collision.ode_objects_factories) (in module ars.model.physics.ode_objects_factories) create_ode_cylinder() (in module ars.model.collision.ode_objects_factories) (in module ars.model.physics.ode_objects_factories) create_ode_hash_space() (in module ars.model.collision.ode_objects_factories) create_ode_joint_group() (in module ars.model.collision.ode_objects_factories) create_ode_plane() (in module ars.model.collision.ode_objects_factories) create_ode_ray() (in module ars.model.collision.ode_objects_factories) create_ode_simple_space() (in module ars.model.collision.ode_objects_factories) create_ode_sphere() (in module ars.model.collision.ode_objects_factories) (in module ars.model.physics.ode_objects_factories) create_ode_trimesh() (in module ars.model.collision.ode_objects_factories) create_ode_world() (in module ars.model.physics.ode_objects_factories) create_screenshot_recorder() (Program method) create_sim_objects() (Program method) create_simulation() (Program method) cross_product() (in module ars.utils.mathematical) Cylinder (class in ars.graphics.base) (class in ars.graphics.vtk_adapter) (class in ars.model.collision.base) (class in ars.model.collision.ode_adapter) (class in ars.model.physics.base) (class in ars.model.physics.ode_adapter)

D

degrees_to_radians() (in module ars.utils.mathematical) depth (RayContactData attribute) disconnect() (in module ars.lib.pydispatch.dispatcher) DispatcherError DispatcherKeyError

DispatcherTypeError dist3() (in module ars.utils.mathematical) div_by_scalar3() (in module ars.utils.mathematical) dot_product() (in module ars.utils.mathematical) dot_product3() (in module ars.utils.mathematical)

E

empty() (ContactGroup method), [1] Engine (class in ars.graphics.base) (class in ars.graphics.vtk_adapter) (class in ars.model.collision.base) (class in ars.model.collision.ode_adapter) (class in ars.model.physics.base) (class in ars.model.physics.ode_adapter)

Entity (class in ars.graphics.base) (class in ars.graphics.vtk_adapter)

F

file_extension (ScreenshotRecorder attribute), [1] finalize() (Program method) finalize_window() (Engine method), [1] Fixed (class in ars.model.robot.joints) FLOOR_BOX_SIZE (Program attribute)

force1 (JointFeedback attribute) force2 (JointFeedback attribute) FPS (Program attribute) function() (in module ars.lib.pydispatch.robustapply)

G

Geom (class in ars.model.collision.base) (class in ars.model.collision.ode_adapter) get() (ActionMap method) get_angular_velocity() (Body method), [1] get_arg() (SensorData method) get_args() (SensorData method) get_attached_body() (Geom method) get_attached_geom() (Body method) get_bodies() (Simulation method) get_body_relative_vector() (in module ars.utils.geometry) get_center_of_gravity() (Body method), [1] get_closer_contact() (Ray method) get_color() (Body method), [1] get_current_epoch_time() (in module ars.utils.generic) get_function() (ActionMap method) get_hg_changeset() (in module ars.utils.version) get_hg_tip_timestamp() (in module ars.utils.version) get_inertia_tensor() (Body method), [1] get_joint() (Simulation method) get_kwarg() (SensorData method) get_kwargs() (SensorData method)

get_last_contact() (Ray method) get_length() (Ray method), [1] get_linear_velocity() (Body method), [1] get_long_tuple() (Transform method) get_mass() (Body method), [1] get_measurement() (BaseSourceSensor method) get_name() (SimulatedObject method) get_object() (Simulation method) get_pose() (SimulatedPhysicsObject method) get_position() (Body method), [1] (Geom method), [1] (SimulatedBody method) (SimulatedJoint method) (SimulatedPhysicsObject method) get_ray() (Laser method) get_rotation() (Body method), [1] (Geom method), [1] (SimulatedBody method) (SimulatedJoint method) (SimulatedPhysicsObject method) (Transform method) get_saved_velocities() (Body method) get_time() (SensorData method) get_translation() (Transform method) get_version() (in module ars.__init__) (in module ars.utils.version) getAllReceivers() (in module ars.lib.pydispatch.dispatcher) getReceivers() (in module ars.lib.pydispatch.dispatcher) GPS (class in ars.model.robot.sensors) gravity (Simulation attribute) (World attribute), [1]

H

has_actor() (SimulatedObject method) has_key() (ActionMap method)

height (Cone attribute) HeightfieldTrimesh (class in ars.model.collision.base)

I

ignore_connected (NearCallbackArgs attribute) Inclinometer (class in ars.model.robot.sensors) inner_object (Body attribute) (ContactGroup attribute) (Geom attribute) (Space attribute) (World attribute) insert_in_tuple() (in module ars.utils.generic)

is_empty() (Queue method) is_ray() (ars.model.collision.base.Engine class method) (ars.model.collision.ode_adapter.Engine class method) is_repeat() (ActionMap method) is_updatable() (SimulatedObject method)

J

Joint (class in ars.model.robot.joints) joint (JointSensor attribute) (SimulatedJoint attribute) JointError JointFeedback (class in ars.model.robot.joints) JointForce (class in ars.model.robot.sensors)

JointPower (class in ars.model.robot.sensors) joints (Simulation attribute) JointSensor (class in ars.model.robot.sensors) JointTorque (class in ars.model.robot.sensors)

K

KineticEnergy (class in ars.model.robot.sensors)

L

Laser (class in ars.model.robot.sensors) length (Capsule attribute) (Cylinder attribute) length2() (in module ars.utils.mathematical)

length3() (in module ars.utils.mathematical) liveReceivers() (in module ars.lib.pydispatch.dispatcher)

M

make_OpenGL_matrix() (in module ars.utils.geometry) matrix (Transform attribute) matrix_as_3x3_tuples() (in module ars.utils.mathematical) matrix_as_tuple() (in module ars.utils.mathematical)

matrix_multiply() (in module ars.utils.mathematical) mult_by_scalar3() (in module ars.utils.mathematical) MultipleSignalsSensor (class in ars.model.robot.sensors)

N

near_callback() (ars.model.collision.base.Engine class method) NearCallbackArgs (class in ars.model.collision.base) neg3() (in module ars.utils.mathematical) nested_iterable_to_tuple() (in module ars.utils.generic)

norm3() (in module ars.utils.mathematical) normal (RayContactData attribute) np_matrix_to_tuple() (in module ars.utils.mathematical)

O

objects (Simulation attribute) offset_by_object() (SimulatedPhysicsObject method) offset_by_position() (SimulatedPhysicsObject method) on_action_selection() (Program method) on_change() (BaseSourceSensor method) (Laser method)

on_idle() (Simulation method) on_pre_frame() (Program method) on_pre_step() (Program method) on_send() (BaseSignalSensor method)

P

perform_sim_steps_per_frame() (Simulation method) PhysicsEngineException PhysicsObjectCreationError Plane (class in ars.model.collision.base) (class in ars.model.collision.ode_adapter) position (RayContactData attribute) (Slider attribute) position_rate (Slider attribute) PotentialEnergy (class in ars.model.robot.sensors)

process_collision_contacts() (ars.model.collision.base.Engine class method) (ars.model.collision.ode_adapter.Engine class method) process_ray_collision_contacts() (ars.model.collision.base.Engine class method) (ars.model.collision.ode_adapter.Engine class method) Program (class in ars.app) project3() (in module ars.utils.mathematical) pull() (Queue method) put() (Queue method)

Q

Queue (class in ars.utils.containers)

R

radians_to_degrees() (in module ars.utils.mathematical) radius (Capsule attribute) (Cone attribute) (Cylinder attribute) (Sphere attribute) Ray (class in ars.model.collision.base) (class in ars.model.collision.ode_adapter) ray (RayContactData attribute) RayContactData (class in ars.model.collision.base) read_settings() (in module ars.utils.generic) record_frame() (Program method) remove_object() (Engine method), [1] reset() (Engine method), [1]

reset_simulation() (Program method) restart_window() (Engine method), [1] robustApply() (in module ars.lib.pydispatch.robustapply) rot_matrix_to_euler_angles() (in module ars.utils.geometry) rot_matrix_to_hom_transform() (in module ars.utils.geometry) Rotary (class in ars.model.robot.joints) RotaryJointSensor (class in ars.model.robot.sensors) rotate() (SimulatedPhysicsObject method) rotate3() (in module ars.utils.mathematical)

S

safeRef() (in module ars.lib.pydispatch.saferef) save_velocities() (Body method) ScreenshotRecorder (class in ars.graphics.base) (class in ars.graphics.vtk_adapter) send() (in module ars.lib.pydispatch.dispatcher) sender (BaseSignalSensor attribute) sendExact() (in module ars.lib.pydispatch.dispatcher) sendRobust() (in module ars.lib.pydispatch.robust) SensorData (class in ars.model.robot.sensors) SensorDataQueue (class in ars.model.robot.sensors) set_color() (Body method), [1] set_key_2_action_mapping() (Program method) set_last_contact() (Ray method) set_length() (Ray method), [1] set_name() (SimulatedObject method) set_pose() (Entity method) (SimulatedPhysicsObject method) set_position() (Body method), [1] (Geom method), [1] (Laser method) (SimulatedBody method) (SimulatedJoint method) (SimulatedPhysicsObject method) set_rotation() (Body method), [1] (Geom method), [1] (Laser method) (SimulatedBody method) (SimulatedJoint method) (SimulatedPhysicsObject method) set_speed() (Rotary method) set_time() (SensorData method) shape (RayContactData attribute) sign() (in module ars.utils.mathematical) signal (JointForce attribute) (JointTorque attribute)

signals (JointPower attribute) sim (SimulationSensor attribute) sim_time (Simulation attribute) SimulatedBody (class in ars.model.simulator) SimulatedJoint (class in ars.model.simulator) SimulatedObject (class in ars.model.simulator) SimulatedPhysicsObject (class in ars.model.simulator) Simulation (class in ars.model.simulator) SimulationSensor (class in ars.model.robot.sensors) SingleSignalSensor (class in ars.model.robot.sensors) size (Box attribute) Slider (class in ars.model.robot.joints) source (BaseSourceSensor attribute) Space (class in ars.model.collision.base) (class in ars.model.collision.ode_adapter) Sphere (class in ars.graphics.base) (class in ars.graphics.vtk_adapter) (class in ars.model.collision.base) (class in ars.model.collision.ode_adapter) (class in ars.model.physics.base) (class in ars.model.physics.ode_adapter) start() (Program method) start_window() (Engine method), [1] step() (World method), [1] STEPS_PER_FRAME (Program attribute) sub3() (in module ars.utils.mathematical) swap_faces_indices() (Trimesh static method) SystemTotalEnergy (class in ars.model.robot.sensors)

T

time_step (Simulation attribute) torque1 (JointFeedback attribute) torque2 (JointFeedback attribute) TotalEnergy (class in ars.model.robot.sensors)

Transform (class in ars.utils.geometry) transpose3() (in module ars.utils.mathematical) Trimesh (class in ars.graphics.base) (class in ars.graphics.vtk_adapter) (class in ars.model.collision.base) (class in ars.model.collision.ode_adapter)

U

unitize() (in module ars.utils.mathematical) Universal (class in ars.model.robot.joints)

update_actor() (SimulatedPhysicsObject method) update_actors() (Simulation method)

V

vec3_degrees_to_radians() (in module ars.utils.mathematical) vec3_radians_to_degrees() (in module ars.utils.mathematical)

vector_matrix_vector() (in module ars.utils.mathematical) Velometer (class in ars.model.robot.sensors)

W

WINDOW_POSITION (Program attribute) WINDOW_SIZE (Program attribute) WINDOW_TITLE (Program attribute) WINDOW_ZOOM (Program attribute) World (class in ars.model.physics.base) (class in ars.model.physics.ode_adapter) world (NearCallbackArgs attribute)

world_class (Engine attribute), [1] write() (ScreenshotRecorder method), [1] write_settings() (in module ars.utils.generic) write_tuple_to_file() (in module ars.utils.generic) write_var_to_file() (in module ars.utils.generic)

Z

z_axis() (in module ars.utils.mathematical)