SYMBOL INDEX (629 symbols across 44 files)

FILE: ur_control/scripts/cartesian_compliance_controller_examples.py
  function signal_handler (line 39) | def signal_handler(sig, frame):
  function move_joints (line 47) | def move_joints():
  function move_cartesian (line 55) | def move_cartesian():
  function move_force (line 94) | def move_force():
  function slicing (line 130) | def slicing():
  function admittance_control (line 151) | def admittance_control():
  function free_drive (line 166) | def free_drive():
  function test (line 213) | def test():
  function enable_compliance_control (line 226) | def enable_compliance_control():
  function main (line 248) | def main():

FILE: ur_control/scripts/compliance_controller_examples.py
  function signal_handler (line 39) | def signal_handler(sig, frame):
  function move_joints (line 47) | def move_joints(wait=True):
  function spiral_trajectory (line 58) | def spiral_trajectory():
  function circular_trajectory (line 83) | def circular_trajectory():
  function execute_trajectory (line 108) | def execute_trajectory(trajectory, duration, use_force_control=False, te...
  function init_force_control (line 126) | def init_force_control(selection_matrix, dt=0.02):
  function full_force_control (line 145) | def full_force_control(
  function force_control (line 182) | def force_control():
  function main (line 199) | def main():

FILE: ur_control/scripts/controller_examples.py
  function move_joints (line 41) | def move_joints(wait=True):
  function follow_trajectory (line 52) | def follow_trajectory():
  function move_endeffector (line 68) | def move_endeffector():
  function move_gripper (line 80) | def move_gripper():
  function grasp_naive (line 99) | def grasp_naive():
  function grasp_plugin (line 115) | def grasp_plugin():
  function get_random_valid_direction (line 136) | def get_random_valid_direction(plane):
  function circular_trajectory (line 147) | def circular_trajectory():
  function main (line 183) | def main():

FILE: ur_control/scripts/ft_filter.py
  class FTsensor (line 38) | class FTsensor(object):
    method __init__ (line 40) | def __init__(self, in_topic, namespace="", out_topic=None,
    method add_wrench_observation (line 86) | def add_wrench_observation(self, wrench):
    method raw_wrench_cb (line 89) | def raw_wrench_cb(self, msg):
    method get_filtered_wrench (line 116) | def get_filtered_wrench(self):
    method update_wrench_offset (line 122) | def update_wrench_offset(self):
    method set_enable_publish (line 129) | def set_enable_publish(self, enable):
    method set_enable_filtering (line 132) | def set_enable_filtering(self, enable):
    method _srv_zeroing (line 135) | def _srv_zeroing(self, req):
    method _srv_publish (line 139) | def _srv_publish(self, req):
    method _srv_filtering (line 143) | def _srv_filtering(self, req):
  function main (line 148) | def main():

FILE: ur_control/scripts/getch.py
  function getch (line 7) | def getch(timeout=0.01):

FILE: ur_control/scripts/imu.py
  class ImuFake (line 36) | class ImuFake(object):
    method __init__ (line 38) | def __init__(self, topic, namespace="", frequency=500):
  function main (line 66) | def main():

FILE: ur_control/scripts/joint_position_keyboard.py
  function map_keyboard (line 46) | def map_keyboard():
  function main (line 167) | def main():

FILE: ur_control/scripts/joint_position_mouse6d.py
  function e2q (line 53) | def e2q(e):
  function print_robot_state (line 57) | def print_robot_state():
  function start_control (line 62) | def start_control(motion_type="linear"):
  function main (line 89) | def main():

FILE: ur_control/scripts/moveit_tutorial.py
  function signal_handler (line 41) | def signal_handler(sig, frame):
  function all_close (line 49) | def all_close(goal, actual, tolerance):
  class MoveGroupPythonIntefaceTutorial (line 72) | class MoveGroupPythonIntefaceTutorial(object):
    method __init__ (line 75) | def __init__(self):
    method display_basic_info (line 120) | def display_basic_info(self):
    method go_to_joint_state (line 141) | def go_to_joint_state(self):
    method go_to_pose_goal (line 176) | def go_to_pose_goal(self):
    method plan_cartesian_path (line 209) | def plan_cartesian_path(self, scale=1):
    method display_trajectory (line 251) | def display_trajectory(self, plan):
    method execute_plan (line 277) | def execute_plan(self, plan):
    method wait_for_state_update (line 295) | def wait_for_state_update(self, box_is_known=False, box_is_attached=Fa...
    method add_box (line 336) | def add_box(self, timeout=4):
    method add_box2 (line 361) | def add_box2(self, timeout=4):
    method attach_box (line 388) | def attach_box(self, timeout=4):
    method detach_box (line 416) | def detach_box(self, name=None, timeout=4):
    method remove_box (line 435) | def remove_box(self, name=None, timeout=4):
  function main (line 456) | def main():

FILE: ur_control/scripts/wrench_republish.py
  class FTsensor (line 36) | class FTsensor(object):
    method __init__ (line 38) | def __init__(self):
    method cb_raw (line 59) | def cb_raw(self, msg):
  function main (line 66) | def main():

FILE: ur_control/src/ur_control/arm.py
  class Arm (line 52) | class Arm(object):
    method __init__ (line 55) | def __init__(self,
    method __init_controllers__ (line 123) | def __init_controllers__(self, gripper_type, joint_names_prefix=None):
    method __init_ik_solver__ (line 144) | def __init_ik_solver__(self, base_link, ee_link):
    method __init_ft_sensor__ (line 169) | def __init_ft_sensor__(self):
    method __ft_callback__ (line 196) | def __ft_callback__(self, msg):
    method inverse_kinematics (line 202) | def inverse_kinematics(self,
    method end_effector (line 252) | def end_effector(self,
    method joint_angle (line 302) | def joint_angle(self, joint: str) -> float:
    method joint_angles (line 309) | def joint_angles(self) -> np.ndarray:
    method joint_velocity (line 316) | def joint_velocity(self, joint: str) -> float:
    method joint_velocities (line 323) | def joint_velocities(self) -> np.ndarray:
    method joint_effort (line 329) | def joint_effort(self, joint: str) -> float:
    method joint_efforts (line 336) | def joint_efforts(self) -> np.ndarray:
    method get_wrench_history (line 342) | def get_wrench_history(self, hist_size=24, hand_frame_control=False):
    method get_wrench (line 357) | def get_wrench(self,
    method set_joint_positions (line 400) | def set_joint_positions(self,
    method set_joint_trajectory (line 446) | def set_joint_trajectory(self,
    method set_target_pose (line 486) | def set_target_pose(self,
    method set_pose_trajectory (line 516) | def set_pose_trajectory(self,
    method move_relative (line 550) | def move_relative(self,
    method zero_ft_sensor (line 583) | def zero_ft_sensor(self):
    method set_ft_filtering (line 594) | def set_ft_filtering(self, active=True):

FILE: ur_control/src/ur_control/compliance_controller.py
  function getAvg (line 20) | def getAvg(prev_avg, x, n):
  class CompliantController (line 26) | class CompliantController(Arm):
    method __init__ (line 27) | def __init__(self,
    method set_hybrid_control_trajectory (line 40) | def set_hybrid_control_trajectory(self, trajectory, max_force_torque, ...
    method _actuate (line 173) | def _actuate(self, pose, dt, q_last, reduced_speed, attempts=5):
    method set_hybrid_control (line 198) | def set_hybrid_control(self, model, max_force_torque, timeout=5.0, sto...

FILE: ur_control/src/ur_control/constants.py
  class IKSolverType (line 4) | class IKSolverType(Enum):
  class GripperType (line 10) | class GripperType(Enum):
  class ExecutionResult (line 15) | class ExecutionResult(Enum):
  function get_arm_joint_names (line 50) | def get_arm_joint_names(prefix):

FILE: ur_control/src/ur_control/controllers.py
  class JointControllerBase (line 16) | class JointControllerBase(object):
    method __init__ (line 21) | def __init__(self, namespace, timeout, joint_names=None):
    method disconnect (line 62) | def disconnect(self):
    method get_joint_efforts (line 68) | def get_joint_efforts(self):
    method get_joint_positions (line 76) | def get_joint_positions(self):
    method get_joint_positions_hist (line 84) | def get_joint_positions_hist(self):
    method get_joint_velocities (line 92) | def get_joint_velocities(self):
    method joint_states_cb (line 100) | def joint_states_cb(self, msg):
  class JointPositionController (line 127) | class JointPositionController(JointControllerBase):
    method __init__ (line 134) | def __init__(self, namespace='', timeout=5.0, joint_names=None):
    method set_joint_positions (line 175) | def set_joint_positions(self, jnt_positions):
    method valid_jnt_command (line 194) | def valid_jnt_command(self, command):
  class JointTrajectoryController (line 205) | class JointTrajectoryController(JointControllerBase):
    method __init__ (line 224) | def __init__(self, publisher_name='arm_controller', namespace='', time...
    method add_point (line 258) | def add_point(self, target_time, positions, velocities=None, accelerat...
    method clear_points (line 286) | def clear_points(self):
    method get_num_points (line 292) | def get_num_points(self):
    method get_result (line 300) | def get_result(self) -> FollowJointTrajectoryResult:
    method get_state (line 314) | def get_state(self):
    method set_trajectory (line 332) | def set_trajectory(self, trajectory):
    method start (line 340) | def start(self, delay=0.1, wait=False):
    method stop (line 355) | def stop(self):
    method wait (line 361) | def wait(self, timeout=15.0):
    method start_no_action_server (line 371) | def start_no_action_server(self):

FILE: ur_control/src/ur_control/controllers_connection.py
  class ControllersConnection (line 9) | class ControllersConnection():
    method __init__ (line 10) | def __init__(self, namespace=None):
    method get_loaded_controllers (line 30) | def get_loaded_controllers(self):
    method get_controller_state (line 39) | def get_controller_state(self, controller_name):
    method load_controllers (line 50) | def load_controllers(self, controllers_list):
    method unload_controllers (line 60) | def unload_controllers(self, controllers_list):
    method check_controllers_state (line 71) | def check_controllers_state(self, on_controllers, off_controllers):
    method switch_controllers (line 81) | def switch_controllers(self, controllers_on, controllers_off,
    method reset_controllers (line 138) | def reset_controllers(self):
    method update_controllers_list (line 166) | def update_controllers_list(self, new_controllers_list):

FILE: ur_control/src/ur_control/conversions.py
  function from_dict (line 17) | def from_dict(transform_dict):
  function from_kdl_vector (line 32) | def from_kdl_vector(vector):
  function from_kdl_twist (line 43) | def from_kdl_twist(twist):
  function from_point (line 58) | def from_point(msg):
  function from_pose (line 69) | def from_pose(msg):
  function from_pose_to_list (line 82) | def from_pose_to_list(msg):
  function from_quaternion (line 93) | def from_quaternion(msg):
  function from_roi (line 104) | def from_roi(msg):
  function from_transform (line 110) | def from_transform(msg):
  function from_vector3 (line 123) | def from_vector3(msg):
  function from_wrench (line 134) | def from_wrench(msg):
  function to_quaternion (line 148) | def to_quaternion(array):
  function to_point (line 159) | def to_point(array):
  function to_pose (line 170) | def to_pose(T):
  function to_roi (line 191) | def to_roi(top_left, bottom_right):
  function to_transform (line 200) | def to_transform(T):
  function to_vector3 (line 218) | def to_vector3(array):
  function to_wrench (line 229) | def to_wrench(array):
  function from_rviz_vector (line 244) | def from_rviz_vector(value, dtype=float):
  function angleAxis_from_euler (line 258) | def angleAxis_from_euler(euler):
  function euler_transformation_matrix (line 285) | def euler_transformation_matrix(euler):
  function transform_end_effector (line 293) | def transform_end_effector(pose, extra_pose, rot_type='quaternion', inve...
  function inverse_transformation (line 327) | def inverse_transformation(pose, transform):
  function to_float (line 335) | def to_float(val):
  function to_pose_stamped (line 346) | def to_pose_stamped(frame_id, pose):
  function transform_pose (line 353) | def transform_pose(target_frame, transform_matrix, ps):
  function xyz_to_mat44 (line 384) | def xyz_to_mat44(pos):
  function xyzw_to_mat44 (line 388) | def xyzw_to_mat44(ori):

FILE: ur_control/src/ur_control/exceptions.py
  class InverseKinematicsException (line 1) | class InverseKinematicsException(Exception):

FILE: ur_control/src/ur_control/filters.py
  function best_fit_foaw (line 8) | def best_fit_foaw(y, fs, m, d):
  function butter_lowpass (line 43) | def butter_lowpass(cutoff, fs, order=5):
  function lowpass_fo (line 64) | def lowpass_fo(cutoff, fs):
  function savitzky_golay (line 83) | def savitzky_golay(y, window_size, order, deriv=0, rate=1):
  function smooth_diff (line 151) | def smooth_diff(n):
  class ButterLowPass (line 226) | class ButterLowPass:
    method __init__ (line 232) | def __init__( self, cutoff, fs, order=5 ):
    method __call__ (line 247) | def __call__( self, x ):
  class LowPassFO (line 267) | class LowPassFO:
    method __init__ (line 271) | def __init__( self, cutoff, fs):
    method __call__ (line 284) | def __call__( self, x ):

FILE: ur_control/src/ur_control/fzi_cartesian_compliance_controller.py
  function is_more_extreme (line 40) | def is_more_extreme(value, target):
  function convert_selection_matrix_to_parameters (line 48) | def convert_selection_matrix_to_parameters(selection_matrix):
  function convert_stiffness_to_parameters (line 62) | def convert_stiffness_to_parameters(stiffness):
  function convert_pd_gains_to_parameters (line 76) | def convert_pd_gains_to_parameters(p_gains, d_gains=[0, 0, 0, 0, 0, 0]):
  function switch_cartesian_controllers (line 87) | def switch_cartesian_controllers(func):
  class CompliantController (line 108) | class CompliantController(Arm):
    method __init__ (line 109) | def __init__(self,
    method __del__ (line 162) | def __del__(self):
    method target_pose_cb (line 169) | def target_pose_cb(self, data):
    method target_wrench_cb (line 172) | def target_wrench_cb(self, data):
    method activate_cartesian_controller (line 175) | def activate_cartesian_controller(self):
    method activate_joint_trajectory_controller (line 179) | def activate_joint_trajectory_controller(self):
    method set_cartesian_target_wrench (line 183) | def set_cartesian_target_wrench(self, wrench: list):
    method set_cartesian_target_pose (line 193) | def set_cartesian_target_pose(self, pose: list):
    method publish_parameter_update (line 201) | def publish_parameter_update(self, parameters):
    method __update_controller_parameter_loop__ (line 209) | def __update_controller_parameter_loop__(self):
    method update_controller_parameters (line 227) | def update_controller_parameters(self, parameters: dict):
    method update_selection_matrix (line 240) | def update_selection_matrix(self, selection_matrix):
    method update_pd_gains (line 244) | def update_pd_gains(self, p_gains, d_gains=[0, 0, 0, 0, 0, 0]):
    method update_stiffness (line 248) | def update_stiffness(self, stiffness):
    method set_control_mode (line 252) | def set_control_mode(self, mode="parallel"):
    method set_position_control_mode (line 262) | def set_position_control_mode(self, enable=True):
    method set_hand_frame_control (line 267) | def set_hand_frame_control(self, enable):
    method set_end_effector_link (line 271) | def set_end_effector_link(self, end_effector_link):
    method set_solver_parameters (line 276) | def set_solver_parameters(self, error_scale=None, iterations=None, pub...
    method wait_for_robot_to_stop (line 287) | def wait_for_robot_to_stop(self, wait_time=5):
    method execute_compliance_control (line 307) | def execute_compliance_control(self, trajectory: np.array, target_wren...
    method sliding_error (line 387) | def sliding_error(self, target_pose, max_scale_error):

FILE: ur_control/src/ur_control/grippers.py
  class GripperControllerBase (line 21) | class GripperControllerBase():
    method __init__ (line 22) | def __init__(self, namespace='', node_name='', prefix=None, timeout=5....
    method open (line 57) | def open(self):
    method close (line 60) | def close(self):
    method get_position (line 63) | def get_position(self):
    method get_velocity (line 66) | def get_velocity(self):
    method get_opening_percentage (line 69) | def get_opening_percentage(self):
    method joint_states_cb (line 72) | def joint_states_cb(self, msg):
  class GripperController (line 99) | class GripperController(GripperControllerBase):
    method __init__ (line 100) | def __init__(self, namespace='', prefix=None, timeout=5.0, attach_link...
    method close (line 147) | def close(self, wait=True):
    method percentage_command (line 150) | def percentage_command(self, value, wait=True):
    method command (line 153) | def command(self, value, percentage=False, wait=True):
    method _distance_to_angle (line 189) | def _distance_to_angle(self, distance):
    method _angle_to_distance (line 194) | def _angle_to_distance(self, angle):
    method get_result (line 199) | def get_result(self):
    method get_state (line 202) | def get_state(self):
    method grab (line 205) | def grab(self, link_name):
    method open (line 216) | def open(self, wait=True):
    method release (line 219) | def release(self, link_name):
    method stop (line 230) | def stop(self):
    method wait (line 233) | def wait(self, timeout=15.0):
    method get_position (line 236) | def get_position(self):
    method get_opening_percentage (line 247) | def get_opening_percentage(self):
  class RobotiqGripper (line 251) | class RobotiqGripper(GripperControllerBase):
    method __init__ (line 252) | def __init__(self, namespace="", prefix="", timeout=2):
    method _gripper_status_callback (line 286) | def _gripper_status_callback(self, msg):
    method get_opening_percentage (line 289) | def get_opening_percentage(self):
    method close (line 292) | def close(self, force=40.0, velocity=1.0, wait=True):
    method open (line 295) | def open(self, velocity=1.0, wait=True, opening_width=None):
    method convert_percentage_to_width (line 299) | def convert_percentage_to_width(self, width):
    method convert_width_to_percentage (line 307) | def convert_width_to_percentage(self, percentage):
    method percentage_command (line 316) | def percentage_command(self, value, wait=True):
    method command (line 325) | def command(self, command, force=40.0, velocity=1.0, wait=True):

FILE: ur_control/src/ur_control/hybrid_controller.py
  class ForcePositionController (line 14) | class ForcePositionController(object):
    method __init__ (line 15) | def __init__(self,
    method set_goals (line 36) | def set_goals(self, position=None, force=None):
    method reset (line 51) | def reset(self):
    method control_position (line 61) | def control_position(self, fc, xv):
    method control_position_orientation (line 80) | def control_position_orientation(self, fc, xv):
    method control_velocity (line 103) | def control_velocity(self, fc, xv):

FILE: ur_control/src/ur_control/impedance_control.py
  class AdmittanceModel (line 15) | class AdmittanceModel():
    method __repr__ (line 20) | def __repr__(self):
    method __str__ (line 22) | def __str__(self):
    method __init__ (line 25) | def __init__(self, inertia, stiffness, damper, dt, method="discretizat...
    method reset (line 31) | def reset(self):
    method set_constants (line 54) | def set_constants(self, inertia, stiffness, damper, dt, reset=False):
    method control (line 77) | def control(self, fc):
    method traditional_control (line 86) | def traditional_control(self, fc):
    method discretization_control (line 97) | def discretization_control(self, fc):
    method integration_control (line 115) | def integration_control(self, fc):

FILE: ur_control/src/ur_control/math_utils.py
  function orientation_error_as_rotation_vector (line 5) | def orientation_error_as_rotation_vector(quat_target, quat_source):
  function quaternions_orientation_error (line 21) | def quaternions_orientation_error(quat_target, quat_source):
  function quaternion_normalize (line 39) | def quaternion_normalize(q):
  function quaternion_conjugate (line 53) | def quaternion_conjugate(quaternion):
  function quaternion_inverse (line 66) | def quaternion_inverse(quaternion):
  function quaternion_multiply (line 79) | def quaternion_multiply(quaternion1, quaternion0):
  function quaternion_slerp (line 95) | def quaternion_slerp(quat0, quat1, fraction):  # TODO
  function quaternion_rotate_vector (line 112) | def quaternion_rotate_vector(quat, vector):
  function diff_quaternion (line 127) | def diff_quaternion(quat1, quat2):
  function random_quaternion (line 143) | def random_quaternion(rand=None):
  function random_rotation_matrix (line 165) | def random_rotation_matrix(rand=None):
  function rotation_matrix_from_quaternion (line 180) | def rotation_matrix_from_quaternion(q):
  function quaternion_from_matrix (line 195) | def quaternion_from_matrix(matrix):
  function quaternion_from_axis_angle (line 209) | def quaternion_from_axis_angle(axis_angle):
  function quaternion_from_ortho6 (line 223) | def quaternion_from_ortho6(ortho6):
  function axis_angle_from_quaternion (line 237) | def axis_angle_from_quaternion(quat):
  function ortho6_from_axis_angle (line 250) | def ortho6_from_axis_angle(axis_angle):
  function ortho6_from_quaternion (line 263) | def ortho6_from_quaternion(q):
  function rotation_matrix_from_ortho6 (line 277) | def rotation_matrix_from_ortho6(ortho6):
  function to_np_quaternion (line 297) | def to_np_quaternion(q: np.ndarray) -> np.quaternion:
  function to_np_array (line 310) | def to_np_array(np_q: np.quaternion) -> np.ndarray:

FILE: ur_control/src/ur_control/mouse_6d.py
  class Mouse6D (line 5) | class Mouse6D():
    method __init__ (line 7) | def __init__(self):
    method twist_cb (line 19) | def twist_cb(self, msg):
    method joy_cb (line 33) | def joy_cb(self, msg):
  function main (line 42) | def main():

FILE: ur_control/src/ur_control/spalg.py
  class Plane (line 13) | class Plane(object):
    method __init__ (line 16) | def __init__(self, normal=None, point=None, equation=None):
    method __repr__ (line 29) | def __repr__(self):
    method __str__ (line 36) | def __str__(self):
    method coefficients (line 40) | def coefficients(self):
    method distance (line 43) | def distance(self, point):
    method generate_grid (line 54) | def generate_grid(self, cells=10, side_length=1.0):
    method generate_mesh (line 85) | def generate_mesh(self, side_length=1.0, thickness=0.001):
    method get_ray_intersection (line 112) | def get_ray_intersection(self, ray_origin, ray_dir, epsilon=1e-6):
    method get_transform (line 129) | def get_transform(self):
    method project (line 139) | def project(self, point):
  function counterclockwise_hull (line 151) | def counterclockwise_hull(hull):
  function fit_plane_lstsq (line 166) | def fit_plane_lstsq(XYZ):
  function fit_plane_optimize (line 187) | def fit_plane_optimize(points, seed=None):
  function fit_plane_solve (line 219) | def fit_plane_solve(XYZ):
  function fit_plane_svd (line 241) | def fit_plane_svd(XYZ):
  function force_frame_transform (line 262) | def force_frame_transform(bTa):
  function inertia_matrix_from_vector (line 278) | def inertia_matrix_from_vector(i):
  function L_matrix (line 297) | def L_matrix(w):
  function motion_frame_transform (line 312) | def motion_frame_transform(bTa):
  function perpendicular_vector (line 333) | def perpendicular_vector(v):
  function polygon_area (line 351) | def polygon_area(points, plane=None):
  function rotation_matrix_from_axes (line 368) | def rotation_matrix_from_axes(newaxis, oldaxis=Z_AXIS, point=None):
  function skew (line 389) | def skew(v):
  function transformation_estimation_svd (line 403) | def transformation_estimation_svd(A, B):
  function transformation_between_planes (line 440) | def transformation_between_planes(newplane, oldplane):
  function transform_inv (line 461) | def transform_inv(T):
  function quaternions_orientation_error (line 480) | def quaternions_orientation_error(Qd, Qc):
  function translation_rotation_error (line 502) | def translation_rotation_error(to_pose, from_pose):
  function convert_wrench (line 508) | def convert_wrench(wrench_force, pose):
  function face_towards (line 518) | def face_towards(target_position, current_pose, up_vector=[0, 0, 1]):
  function look_rotation (line 533) | def look_rotation(forward, up=[0, 0, 1]):
  function jump_threshold (line 588) | def jump_threshold(trajectory, dt, threshold):
  function sensor_torque_to_tcp_force (line 609) | def sensor_torque_to_tcp_force(tcp_position, sensor_torques):

FILE: ur_control/src/ur_control/traj_utils.py
  function spiral (line 30) | def spiral(radius, theta_offset, revolutions, steps):
  function get_conical_helix_trajectory (line 37) | def get_conical_helix_trajectory(p1, p2, steps, revolutions=5.0):
  function get_spiral_trajectory (line 50) | def get_spiral_trajectory(p1, p2, steps, revolutions=5.0, from_center=Fa...
  function get_circular_trajectory (line 72) | def get_circular_trajectory(p1, p2, steps, revolutions=1.0, from_center=...
  function concat_vec (line 90) | def concat_vec(x, y, z, steps):
  function get_plane_direction (line 97) | def get_plane_direction(plane, radius):
  function compute_rotation_wiggle (line 110) | def compute_rotation_wiggle(initial_orientation, direction, angle, steps...
  function compute_trajectory (line 138) | def compute_trajectory(initial_pose, plane, radius, radius_direction, st...
  function compute_1d_sinusoidal_trajectory (line 205) | def compute_1d_sinusoidal_trajectory(num_of_points, amplitude=0.01, peri...
  function compute_sinusoidal_trajectory (line 211) | def compute_sinusoidal_trajectory(current_pose, dimension: int, num_of_p...

FILE: ur_control/src/ur_control/transformations.py
  function identity_matrix (line 180) | def identity_matrix():
  function translation_matrix (line 195) | def translation_matrix(direction):
  function translation_from_matrix (line 208) | def translation_from_matrix(matrix):
  function reflection_matrix (line 220) | def reflection_matrix(point, normal):
  function reflection_from_matrix (line 246) | def reflection_from_matrix(matrix):
  function rotation_matrix (line 275) | def rotation_matrix(angle, direction, point=None):
  function rotation_from_matrix (line 319) | def rotation_from_matrix(matrix):
  function scale_matrix (line 359) | def scale_matrix(factor, origin=None, direction=None):
  function scale_from_matrix (line 396) | def scale_from_matrix(matrix):
  function projection_matrix (line 437) | def projection_matrix(point, normal, direction=None,
  function projection_from_matrix (line 499) | def projection_from_matrix(matrix, pseudo=False):
  function clip_matrix (line 572) | def clip_matrix(left, right, bottom, top, near, far, perspective=False):
  function shear_matrix (line 624) | def shear_matrix(angle, direction, point, normal):
  function shear_from_matrix (line 655) | def shear_from_matrix(matrix):
  function decompose_matrix (line 700) | def decompose_matrix(matrix):
  function compose_matrix (line 785) | def compose_matrix(scale=None, shear=None, angles=None, translate=None,
  function orthogonalization_matrix (line 838) | def orthogonalization_matrix(lengths, angles):
  function superimposition_matrix (line 866) | def superimposition_matrix(v0, v1, scaling=False, usesvd=True):
  function euler_matrix (line 968) | def euler_matrix(ai, aj, ak, axes='sxyz'):
  function euler_from_matrix (line 1031) | def euler_from_matrix(matrix, axes='sxyz'):
  function euler_from_quaternion (line 1089) | def euler_from_quaternion(quaternion, axes='sxyz'):
  function quaternion_from_euler (line 1100) | def quaternion_from_euler(ai, aj, ak, axes='sxyz'):
  function pose_from_matrix (line 1157) | def pose_from_matrix(matrix):
  class Arcball (line 1168) | class Arcball(object):
    method __init__ (line 1192) | def __init__(self, initial=None):
    method place (line 1219) | def place(self, center, radius):
    method setaxes (line 1232) | def setaxes(self, *axes):
    method setconstrain (line 1239) | def setconstrain(self, constrain):
    method getconstrain (line 1243) | def getconstrain(self):
    method down (line 1247) | def down(self, point):
    method drag (line 1258) | def drag(self, point):
    method next (line 1274) | def next(self, acceleration=0.0):
    method matrix (line 1279) | def matrix(self):
  function arcball_map_to_sphere (line 1284) | def arcball_map_to_sphere(point, center, radius):
  function arcball_constrain_to_axis (line 1297) | def arcball_constrain_to_axis(point, axis):
  function arcball_nearest_axis (line 1313) | def arcball_nearest_axis(point, axes):
  function vector_norm (line 1348) | def vector_norm(data, axis=None, out=None):
  function unit_vector (line 1387) | def unit_vector(data, axis=None, out=None):
  function random_vector (line 1431) | def random_vector(size):
  function inverse_matrix (line 1446) | def inverse_matrix(matrix):
  function concatenate_matrices (line 1462) | def concatenate_matrices(*matrices):
  function is_same_transform (line 1478) | def is_same_transform(matrix0, matrix1):
  function rotate_quaternion_by_rpy (line 1494) | def rotate_quaternion_by_rpy(roll, pitch, yaw, q_in, rotated_frame=False):
  function translate_pose (line 1510) | def translate_pose(pose, delta, rotated_frame=False):
  function transform_pose (line 1528) | def transform_pose(pose, transformation, rotated_frame=False):
  function pose_from_angular_velocity_euler (line 1549) | def pose_from_angular_velocity_euler(pose, velocity, dt=1.0):
  function pose_from_angular_velocity (line 1576) | def pose_from_angular_velocity(pose, velocity, dt=1.0, rotated_frame=Fal...
  function integrateUnitQuaternionDMM (line 1609) | def integrateUnitQuaternionDMM(q, w, dt):
  function integrateUnitQuaternionEuler (line 1618) | def integrateUnitQuaternionEuler(q, w, dt):
  function pose_to_transform (line 1625) | def pose_to_transform(pose):
  function angular_velocity_from_quaternions (line 1635) | def angular_velocity_from_quaternions(q0, q1, dt):
  function pose_quaternion_to_euler (line 1639) | def pose_quaternion_to_euler(pose):
  function pose_euler_to_quat (line 1643) | def pose_euler_to_quat(pose):
  function transform_between_poses (line 1647) | def transform_between_poses(p1, p2):

FILE: ur_control/src/ur_control/ur_services.py
  function check_for_real_robot (line 15) | def check_for_real_robot(func):
  class URServices (line 26) | class URServices():
    method __init__ (line 31) | def __init__(self, namespace):
    method safety_mode_callback (line 66) | def safety_mode_callback(self, msg):
    method ros_control_status_callback (line 70) | def ros_control_status_callback(self, msg):
    method is_running_normally (line 74) | def is_running_normally(self):
    method is_protective_stopped (line 81) | def is_protective_stopped(self):
    method unlock_protective_stop (line 88) | def unlock_protective_stop(self):
    method set_speed_scale (line 110) | def set_speed_scale(self, scale):
    method set_payload (line 118) | def set_payload(self, mass, center_of_gravity):
    method wait_for_control_status_to_turn_on (line 135) | def wait_for_control_status_to_turn_on(self, waittime):
    method activate_ros_control_on_ur (line 146) | def activate_ros_control_on_ur(self, recursion_depth=0):
    method check_loaded_program (line 221) | def check_loaded_program(self):
    method check_for_dead_controller_and_force_start (line 249) | def check_for_dead_controller_and_force_start(self):
    method load_and_execute_program (line 269) | def load_and_execute_program(self, program_name="", recursion_depth=0,...
    method load_program (line 277) | def load_program(self, program_name="", recursion_depth=0):
    method execute_loaded_program (line 326) | def execute_loaded_program(self):
    method close_ur_popup (line 341) | def close_ur_popup(self):

FILE: ur_control/src/ur_control/utils.py
  function load_urdf_string (line 16) | def load_urdf_string(package, filename):
  class PDRotation (line 25) | class PDRotation:
    method __init__ (line 26) | def __init__(self, kp, kd=None):
    method reset (line 31) | def reset(self):
    method set_gains (line 35) | def set_gains(self, kp=None, kd=None):
    method update (line 41) | def update(self, quaternion_error, dt=None):
  class PID (line 59) | class PID:
    method __init__ (line 60) | def __init__(self, Kp, Ki=None, Kd=None, dynamic_pid=False, max_gain_m...
    method reset (line 77) | def reset(self):
    method set_gains (line 82) | def set_gains(self, Kp=None, Ki=None, Kd=None):
    method set_windup (line 90) | def set_windup(self, windup):
    method update (line 94) | def update(self, error, dt=None):
  class TextColors (line 137) | class TextColors:
    method disable (line 150) | def disable(self):
    method blue (line 161) | def blue(self, msg):
    method debug (line 169) | def debug(self, msg):
    method error (line 177) | def error(self, msg):
    method ok (line 185) | def ok(self, msg):
    method warning (line 193) | def warning(self, msg):
    method logdebug (line 201) | def logdebug(self, msg):
    method loginfo (line 211) | def loginfo(self, msg):
    method logwarn (line 221) | def logwarn(self, msg):
    method logerr (line 231) | def logerr(self, msg):
    method logfatal (line 241) | def logfatal(self, msg):
    method set_log_level (line 251) | def set_log_level(self, level):
  function assert_shape (line 266) | def assert_shape(variable, name, shape):
  function assert_type (line 279) | def assert_type(variable, name, ttype):
  function db_error_msg (line 292) | def db_error_msg(name, logger=TextColors()):
  function clean_cos (line 304) | def clean_cos(value):
  function has_keys (line 315) | def has_keys(data, keys):
  function raise_not_implemented (line 335) | def raise_not_implemented():
  function topic_exist (line 342) | def topic_exist(topic):
  function read_key (line 349) | def read_key(echo=False):
  function resolve_parameter (line 364) | def resolve_parameter(value, default_value):
  function read_parameter (line 370) | def read_parameter(name, default):
  function read_parameter_err (line 392) | def read_parameter_err(name):
  function read_parameter_fatal (line 414) | def read_parameter_fatal(name):
  function solve_namespace (line 434) | def solve_namespace(namespace=None):
  function sorted_joint_state_msg (line 455) | def sorted_joint_state_msg(msg, joint_names):
  function unique (line 486) | def unique(data):
  function wait_for (line 503) | def wait_for(predicate, timeout=5.0):

FILE: ur_control/test/test_quaternion_functions.py
  class TestQuaternionFunctions (line 27) | class TestQuaternionFunctions(unittest.TestCase):
    method setUp (line 28) | def setUp(self):
    method test_orientation_error_as_rotation_vector (line 34) | def test_orientation_error_as_rotation_vector(self):
    method test_quaternions_orientation_error (line 39) | def test_quaternions_orientation_error(self):
    method test_quaternion_normalize (line 44) | def test_quaternion_normalize(self):
    method test_quaternion_conjugate (line 51) | def test_quaternion_conjugate(self):
    method test_quaternion_inverse (line 57) | def test_quaternion_inverse(self):
    method test_quaternion_multiply (line 63) | def test_quaternion_multiply(self):
    method test_quaternion_slerp (line 70) | def test_quaternion_slerp(self):
    method test_quaternion_rotate_vector (line 76) | def test_quaternion_rotate_vector(self):
    method test_diff_quaternion (line 84) | def test_diff_quaternion(self):
    method test_random_quaternion (line 91) | def test_random_quaternion(self):
    method test_random_rotation_matrix (line 96) | def test_random_rotation_matrix(self):
    method test_rotation_matrix_from_quaternion (line 101) | def test_rotation_matrix_from_quaternion(self):
    method test_quaternion_from_axis_angle (line 109) | def test_quaternion_from_axis_angle(self):
    method test_quaternion_from_ortho6 (line 116) | def test_quaternion_from_ortho6(self):
    method test_axis_angle_from_quaternion (line 124) | def test_axis_angle_from_quaternion(self):
    method test_ortho6_from_axis_angle (line 131) | def test_ortho6_from_axis_angle(self):
    method test_ortho6_from_quaternion (line 138) | def test_ortho6_from_quaternion(self):
    method test_rotation_matrix_from_ortho6 (line 145) | def test_rotation_matrix_from_ortho6(self):

FILE: ur_control/test/transformations_bk.py
  function identity_matrix (line 179) | def identity_matrix():
  function translation_matrix (line 194) | def translation_matrix(direction):
  function translation_from_matrix (line 207) | def translation_from_matrix(matrix):
  function reflection_matrix (line 219) | def reflection_matrix(point, normal):
  function reflection_from_matrix (line 245) | def reflection_from_matrix(matrix):
  function rotation_matrix (line 274) | def rotation_matrix(angle, direction, point=None):
  function rotation_from_matrix (line 318) | def rotation_from_matrix(matrix):
  function scale_matrix (line 358) | def scale_matrix(factor, origin=None, direction=None):
  function scale_from_matrix (line 395) | def scale_from_matrix(matrix):
  function projection_matrix (line 436) | def projection_matrix(point, normal, direction=None,
  function projection_from_matrix (line 498) | def projection_from_matrix(matrix, pseudo=False):
  function clip_matrix (line 571) | def clip_matrix(left, right, bottom, top, near, far, perspective=False):
  function shear_matrix (line 623) | def shear_matrix(angle, direction, point, normal):
  function shear_from_matrix (line 654) | def shear_from_matrix(matrix):
  function decompose_matrix (line 699) | def decompose_matrix(matrix):
  function compose_matrix (line 784) | def compose_matrix(scale=None, shear=None, angles=None, translate=None,
  function orthogonalization_matrix (line 837) | def orthogonalization_matrix(lengths, angles):
  function superimposition_matrix (line 865) | def superimposition_matrix(v0, v1, scaling=False, usesvd=True):
  function euler_matrix (line 967) | def euler_matrix(ai, aj, ak, axes='sxyz'):
  function euler_from_matrix (line 1030) | def euler_from_matrix(matrix, axes='sxyz'):
  function euler_from_quaternion (line 1088) | def euler_from_quaternion(quaternion, axes='sxyz'):
  function quaternion_normalize (line 1099) | def quaternion_normalize(v, tolerance=0.00001):
  function quaternion_from_euler (line 1107) | def quaternion_from_euler(ai, aj, ak, axes='sxyz'):
  function quaternion_about_axis (line 1164) | def quaternion_about_axis(angle, axis):
  function quaternion_matrix (line 1181) | def quaternion_matrix(quaternion):
  function quaternion_from_matrix (line 1203) | def quaternion_from_matrix(matrix):
  function pose_quaternion_from_matrix (line 1235) | def pose_quaternion_from_matrix(matrix):
  function quaternion_multiply (line 1246) | def quaternion_multiply(quaternion1, quaternion0):
  function quaternion_conjugate (line 1263) | def quaternion_conjugate(quaternion):
  function quaternion_inverse (line 1276) | def quaternion_inverse(quaternion):
  function quaternion_slerp (line 1288) | def quaternion_slerp(quat0, quat1, fraction, spin=0, shortestpath=True):
  function quaternion_rotate_vector (line 1329) | def quaternion_rotate_vector(quaternion, vector):
  function random_quaternion (line 1337) | def random_quaternion(rand=None):
  function random_rotation_matrix (line 1367) | def random_rotation_matrix(rand=None):
  class Arcball (line 1382) | class Arcball(object):
    method __init__ (line 1406) | def __init__(self, initial=None):
    method place (line 1433) | def place(self, center, radius):
    method setaxes (line 1446) | def setaxes(self, *axes):
    method setconstrain (line 1453) | def setconstrain(self, constrain):
    method getconstrain (line 1457) | def getconstrain(self):
    method down (line 1461) | def down(self, point):
    method drag (line 1472) | def drag(self, point):
    method next (line 1488) | def next(self, acceleration=0.0):
    method matrix (line 1493) | def matrix(self):
  function arcball_map_to_sphere (line 1498) | def arcball_map_to_sphere(point, center, radius):
  function arcball_constrain_to_axis (line 1511) | def arcball_constrain_to_axis(point, axis):
  function arcball_nearest_axis (line 1527) | def arcball_nearest_axis(point, axes):
  function vector_norm (line 1562) | def vector_norm(data, axis=None, out=None):
  function unit_vector (line 1601) | def unit_vector(data, axis=None, out=None):
  function random_vector (line 1645) | def random_vector(size):
  function inverse_matrix (line 1660) | def inverse_matrix(matrix):
  function concatenate_matrices (line 1676) | def concatenate_matrices(*matrices):
  function is_same_transform (line 1692) | def is_same_transform(matrix0, matrix1):
  function _import_module (line 1708) | def _import_module(module_name, warn=True, prefix='_py_', ignore='_'):
  function rotate_quaternion_by_rpy (line 1735) | def rotate_quaternion_by_rpy(roll, pitch, yaw, q_in, rotated_frame=False):
  function translate_pose (line 1751) | def translate_pose(pose, delta, rotated_frame=False):
  function transform_pose (line 1769) | def transform_pose(pose, transformation, rotated_frame=False):
  function pose_from_angular_velocity_euler (line 1790) | def pose_from_angular_velocity_euler(pose, velocity, dt=1.0):
  function pose_from_angular_velocity (line 1817) | def pose_from_angular_velocity(pose, velocity, dt=1.0, rotated_frame=Fal...
  function integrateUnitQuaternionDMM (line 1850) | def integrateUnitQuaternionDMM(q, w, dt):
  function integrateUnitQuaternionDMM2 (line 1859) | def integrateUnitQuaternionDMM2(q, w, dt):
  function integrateUnitQuaternionEuler (line 1869) | def integrateUnitQuaternionEuler(q, w, dt):
  function pose_to_transform2 (line 1876) | def pose_to_transform2(pose):
  function pose_to_transform (line 1892) | def pose_to_transform(pose):
  function angular_velocity_from_quaternions (line 1902) | def angular_velocity_from_quaternions(q0, q1, dt):
  function vector_to_pyquaternion (line 1920) | def vector_to_pyquaternion(vector):
  function vector_from_pyquaternion (line 1924) | def vector_from_pyquaternion(quat):
  function pose_quaternion_to_euler (line 1928) | def pose_quaternion_to_euler(pose):
  function pose_euler_to_quat (line 1932) | def pose_euler_to_quat(pose):
  function diff_quaternion (line 1936) | def diff_quaternion(q1, q2):
  function transform_between_poses (line 1940) | def transform_between_poses(p1, p2):
  function quaternion_from_axis_angle (line 1948) | def quaternion_from_axis_angle(axis_angle):
  function axis_angle_from_quaternion (line 1962) | def axis_angle_from_quaternion(quat):
  function quaternion_from_ortho6 (line 1987) | def quaternion_from_ortho6(ortho6):
  function ortho6_from_axis_angle (line 1992) | def ortho6_from_axis_angle(axis_angle):
  function ortho6_from_quaternion (line 1996) | def ortho6_from_quaternion(q):
  function rotation_matrix_from_ortho6 (line 2001) | def rotation_matrix_from_ortho6(ortho6):

FILE: ur_gripper_gazebo/scripts/gazebo_to_tf.py
  class GazeboToTf (line 12) | class GazeboToTf:
    method __init__ (line 15) | def __init__(self):
    method callback (line 20) | def callback(self, data):

FILE: ur_gripper_gazebo/scripts/spawner.py
  function place_target (line 16) | def place_target():
  function place_ball (line 26) | def place_ball():
  function place_cube (line 35) | def place_cube():
  function place_models (line 44) | def place_models():
  function place_soft (line 52) | def place_soft():
  function place_door (line 69) | def place_door():
  function place_aruco (line 76) | def place_aruco():
  function main (line 85) | def main():

FILE: ur_gripper_gazebo/scripts/world_publisher.py
  function gazebo_callback (line 17) | def gazebo_callback(msg):

FILE: ur_gripper_gazebo/src/ur_gazebo/gazebo_spawner.py
  function delete_gazebo_models (line 12) | def delete_gazebo_models(models):
  class GazeboModels (line 26) | class GazeboModels:
    method __init__ (line 29) | def __init__(self, model_pkg):
    method load_models (line 44) | def load_models(self, models):
    method _gazebo_callback (line 51) | def _gazebo_callback(self, data):
    method reset_models (line 57) | def reset_models(self, models):
    method reset_model (line 61) | def reset_model(self, model):
    method update_models_state (line 70) | def update_models_state(self, models):
    method update_model_state (line 74) | def update_model_state(self, model):
    method load_urdf_model (line 84) | def load_urdf_model(self, model):
    method load_sdf_model (line 97) | def load_sdf_model(self, model):
    method load_xml (line 112) | def load_xml(self, model_name, filetype="sdf"):

FILE: ur_gripper_gazebo/src/ur_gazebo/model.py
  class Model (line 9) | class Model(object):
    method __init__ (line 11) | def __init__(self, name, position, orientation=[0,0,0,1], file_type='u...
    method set_pose (line 29) | def set_pose(self, position, orientation=[0,0,0,1]):
    method get_rotation (line 38) | def get_rotation(self):
    method get_pose (line 41) | def get_pose(self):

FILE: ur_handeye_calibration/scripts/calibrate.py
  function calibrate_simulation (line 23) | def calibrate_simulation(cto_poses, bte_poses):
  function main (line 53) | def main():

FILE: ur_handeye_calibration/scripts/calibrator.py
  function signal_handler (line 21) | def signal_handler(sig, frame):
  function append_tf_data (line 54) | def append_tf_data():
  function rotate_wrist (line 70) | def rotate_wrist(q, changes):
  function move_arm (line 80) | def move_arm(wait=True):
  function main (line 128) | def main():

FILE: ur_handeye_calibration/scripts/capture_camera_poses.py
  function signal_handler (line 20) | def signal_handler(sig, frame):
  function append_tf_data (line 44) | def append_tf_data():
  function rotate_wrist (line 60) | def rotate_wrist(q, changes):
  function move_arm (line 70) | def move_arm(wait=True):
  function main (line 121) | def main():

FILE: ur_pykdl/scripts/display_urdf.py
  function main (line 36) | def main():

FILE: ur_pykdl/scripts/ur_kinematics.py
  function main (line 35) | def main():

FILE: ur_pykdl/src/ur_kdl/kdl_kinematics.py
  function create_kdl_kin (line 43) | def create_kdl_kin(base_link, end_link, urdf_filename=None):
  class KDLKinematics (line 54) | class KDLKinematics(object):
    method __init__ (line 62) | def __init__(self, urdf, base_link, end_link, kdl_tree=None):
    method get_link_names (line 121) | def get_link_names(self, joints=False, fixed=True):
    method get_joint_names (line 126) | def get_joint_names(self, links=False, fixed=False):
    method get_joint_limits (line 130) | def get_joint_limits(self):
    method FK (line 133) | def FK(self, q, link_number=None):
    method forward (line 150) | def forward(self, q, end_link=None, base_link=None):
    method _do_kdl_fk (line 178) | def _do_kdl_fk(self, q, link_number):
    method inverse (line 203) | def inverse(self, pose, q_guess=None, min_joints=None, max_joints=None):
    method inverse_search (line 239) | def inverse_search(self, pose, timeout=1.):
    method jacobian (line 254) | def jacobian(self, q, pos=None):
    method inertia (line 269) | def inertia(self, q):
    method cart_inertia (line 278) | def cart_inertia(self, q):
    method joints_in_limits (line 287) | def joints_in_limits(self, q):
    method joints_in_safe_limits (line 296) | def joints_in_safe_limits(self, q):
    method clip_joints_safe (line 305) | def clip_joints_safe(self, q):
    method random_joint_angles (line 313) | def random_joint_angles(self):
    method difference_joints (line 327) | def difference_joints(self, q1, q2):
    method inverse_biased (line 342) | def inverse_biased(self, pose, q_init, q_bias, q_bias_weights, rot_wei...
    method inverse_biased_search (line 368) | def inverse_biased_search(self, pos, rot, q_bias, q_bias_weights, rot_...
  function kdl_to_mat (line 384) | def kdl_to_mat(m):
  function joint_kdl_to_list (line 391) | def joint_kdl_to_list(q):
  function joint_list_to_kdl (line 396) | def joint_list_to_kdl(q):
  function main (line 406) | def main():

FILE: ur_pykdl/src/ur_kdl/kdl_parser.py
  function euler_to_quat (line 41) | def euler_to_quat(r, p, y):
  function urdf_pose_to_kdl_frame (line 49) | def urdf_pose_to_kdl_frame(pose):
  function _toKdlPose (line 60) | def _toKdlPose(pose):
  function urdf_joint_to_kdl_joint (line 69) | def urdf_joint_to_kdl_joint(jnt):
  function urdf_inertial_to_kdl_rbi (line 87) | def urdf_inertial_to_kdl_rbi(i):
  function kdl_tree_from_urdf_model (line 99) | def kdl_tree_from_urdf_model(urdf):
  function main (line 123) | def main():

FILE: ur_pykdl/src/ur_pykdl/ur_pykdl.py
  function frame_to_list (line 67) | def frame_to_list(frame):
  class ur_kinematics (line 75) | class ur_kinematics(object):
    method __init__ (line 80) | def __init__(self, base_link=None, ee_link=None, robot=None, prefix=No...
    method print_robot_description (line 113) | def print_robot_description(self):
    method print_kdl_chain (line 124) | def print_kdl_chain(self):
    method joints_to_kdl (line 128) | def joints_to_kdl(self, type, values):
    method kdl_to_mat (line 139) | def kdl_to_mat(self, data):
    method end_effector_transform (line 146) | def end_effector_transform(self, joint_values, tip_link=None):
    method forward (line 153) | def forward(self, joint_values, tip_link=None):
    method forward_position_kinematics (line 165) | def forward_position_kinematics(self, joint_values):
    method forward_velocity_kinematics (line 171) | def forward_velocity_kinematics(self, joint_velocities):
    method inverse_kinematics (line 177) | def inverse_kinematics(self, position, orientation=None, seed=None):
    method jacobian (line 206) | def jacobian(self, joint_values=None):
    method jacobian_transpose (line 211) | def jacobian_transpose(self, joint_values=None):
    method jacobian_pseudo_inverse (line 214) | def jacobian_pseudo_inverse(self, joint_values=None):
    method inertia (line 217) | def inertia(self, joint_values=None):
    method cart_inertia (line 222) | def cart_inertia(self, joint_values=None):