controller module¶

class controller.Accelerometer(name)¶

Bases: controller.Device

disable()¶

enable(samplingPeriod)¶

getLookupTable()¶

getSamplingPeriod()¶

getValues()¶

property thisown¶: The membership flag

class controller.AnsiCodes¶

Bases: object

BLACK_BACKGROUND = '\x1b[40m'¶

BLACK_FOREGROUND = '\x1b[30m'¶

BLUE_BACKGROUND = '\x1b[44m'¶

BLUE_FOREGROUND = '\x1b[34m'¶

BOLD = '\x1b[1m'¶

CLEAR_SCREEN = '\x1b[2J'¶

CYAN_BACKGROUND = '\x1b[46m'¶

CYAN_FOREGROUND = '\x1b[36m'¶

GREEN_BACKGROUND = '\x1b[42m'¶

GREEN_FOREGROUND = '\x1b[32m'¶

MAGENTA_BACKGROUND = '\x1b[45m'¶

MAGENTA_FOREGROUND = '\x1b[35m'¶

RED_BACKGROUND = '\x1b[41m'¶

RED_FOREGROUND = '\x1b[31m'¶

RESET = '\x1b[0m'¶

UNDERLINE = '\x1b[4m'¶

WHITE_BACKGROUND = '\x1b[47m'¶

WHITE_FOREGROUND = '\x1b[37m'¶

YELLOW_BACKGROUND = '\x1b[43m'¶

YELLOW_FOREGROUND = '\x1b[33m'¶

class controller.Brake(name)¶

Bases: controller.Device

getMotor()¶

getMotorTag()¶

getPositionSensor()¶

getPositionSensorTag()¶

getType()¶

setDampingConstant(dampingConstant)¶

property thisown¶: The membership flag

class controller.Camera(name)¶

Bases: controller.Device

disable()¶

disableRecognitionSegmentation()¶

enable(samplingPeriod)¶

enableRecognitionSegmentation()¶

getExposure()¶

getFocalDistance()¶

getFocalLength()¶

getFov()¶

getHeight()¶

getImage()¶

getImageArray()¶

getMaxFocalDistance()¶

getMaxFov()¶

getMinFocalDistance()¶

getMinFov()¶

getNear()¶

getRecognitionNumberOfObjects()¶

getRecognitionObject(index)¶

getRecognitionObjects()¶

getRecognitionSamplingPeriod()¶

getRecognitionSegmentationImage()¶

getRecognitionSegmentationImageArray()¶

getSamplingPeriod()¶

getWidth()¶

hasRecognition()¶

hasRecognitionSegmentation()¶

static imageGetBlue(*args)¶

static imageGetGray(*args)¶

static imageGetGreen(*args)¶

static imageGetGrey(*args)¶

static imageGetRed(*args)¶

isRecognitionSegmentationEnabled()¶

recognitionDisable()¶

recognitionEnable(samplingPeriod)¶

saveImage(filename, quality)¶

saveRecognitionSegmentationImage(filename, quality)¶

setExposure(exposure)¶

setFocalDistance(focalDistance)¶

setFov(fov)¶

property thisown¶: The membership flag

class controller.CameraRecognitionObject¶

Bases: object

property colors¶

get_colors()¶

get_id()¶

get_model()¶

get_number_of_colors()¶

get_orientation()¶

get_position()¶

get_position_on_image()¶

get_size()¶

get_size_on_image()¶

property id¶

property model¶

property number_of_colors¶

property orientation¶

property position¶

property position_on_image¶

property size¶

property size_on_image¶

property thisown¶: The membership flag

controller.Camera_imageGetBlue(*args)¶

controller.Camera_imageGetGray(*args)¶

controller.Camera_imageGetGreen(*args)¶

controller.Camera_imageGetGrey(*args)¶

controller.Camera_imageGetRed(*args)¶

class controller.Compass(name)¶

Bases: controller.Device

disable()¶

enable(samplingPeriod)¶

getLookupTable()¶

getSamplingPeriod()¶

getValues()¶

property thisown¶: The membership flag

class controller.Connector(name)¶

Bases: controller.Device

disablePresence()¶

enablePresence(samplingPeriod)¶

getPresence()¶

getPresenceSamplingPeriod()¶

isLocked()¶

lock()¶

property thisown¶: The membership flag

unlock()¶

class controller.Device(*args, **kwargs)¶

Bases: object

getModel()¶

getName()¶

getNodeType()¶

getTag()¶

static hasType(tag, type)¶

property thisown¶: The membership flag

controller.Device_hasType(tag, type)¶

class controller.DifferentialWheels¶

Bases: controller.Robot

disableEncoders()¶

enableEncoders(samplingPeriod)¶

getEncodersSamplingPeriod()¶

getLeftEncoder()¶

getLeftSpeed()¶

getMaxSpeed()¶

getRightEncoder()¶

getRightSpeed()¶

getSpeedUnit()¶

setEncoders(left, right)¶

setSpeed(left, right)¶

property thisown¶: The membership flag

class controller.Display(name)¶

Bases: controller.Device

attachCamera(camera)¶

detachCamera()¶

drawLine(x1, y1, x2, y2)¶

drawOval(cx, cy, a, b)¶

drawPixel(x1, y1)¶

drawPolygon(x, y)¶

drawRectangle(x, y, width, height)¶

drawText(txt, x, y)¶

fillOval(cx, cy, a, b)¶

fillPolygon(x, y)¶

fillRectangle(x, y, width, height)¶

getHeight()¶

getWidth()¶

imageCopy(x, y, width, height)¶

imageDelete(ir)¶

imageLoad(filename)¶

imageNew(data, format, width=None, height=None)¶

imagePaste(ir, x, y, blend=False)¶

imageSave(ir, filename)¶

setAlpha(alpha)¶

setColor(color)¶

setFont(font, size, antiAliasing)¶

setOpacity(opacity)¶

property thisown¶: The membership flag

class controller.DistanceSensor(name)¶

Bases: controller.Device

disable()¶

enable(samplingPeriod)¶

getAperture()¶

getLookupTable()¶

getMaxValue()¶

getMinValue()¶

getSamplingPeriod()¶

getType()¶

getValue()¶

property thisown¶: The membership flag

class controller.Emitter(name)¶

Bases: controller.Device

getBufferSize()¶

getChannel()¶

getRange()¶

send(data)¶

setChannel(channel)¶

setRange(range)¶

property thisown¶: The membership flag

class controller.Field(*args, **kwargs)¶

Bases: object

getCount()¶

getMFBool(index)¶

getMFColor(index)¶

getMFFloat(index)¶

getMFInt32(index)¶

getMFNode(index)¶

getMFRotation(index)¶

getMFString(index)¶

getMFVec2f(index)¶

getMFVec3f(index)¶

getSFBool()¶

getSFColor()¶

getSFFloat()¶

getSFInt32()¶

getSFNode()¶

getSFRotation()¶

getSFString()¶

getSFVec2f()¶

getSFVec3f()¶

getType()¶

getTypeName()¶

importMFNode(position, filename)¶

importMFNodeFromString(position, nodeString)¶

importSFNode(filename)¶

importSFNodeFromString(nodeString)¶

insertMFBool(index, value)¶

insertMFColor(index, values)¶

insertMFFloat(index, value)¶

insertMFInt32(index, value)¶

insertMFRotation(index, values)¶

insertMFString(index, value)¶

insertMFVec2f(index, values)¶

insertMFVec3f(index, values)¶

removeMF(index)¶

removeMFNode(position)¶

removeSF()¶

setMFBool(index, value)¶

setMFColor(index, values)¶

setMFFloat(index, value)¶

setMFInt32(index, value)¶

setMFRotation(index, values)¶

setMFString(index, value)¶

setMFVec2f(index, values)¶

setMFVec3f(index, values)¶

setSFBool(value)¶

setSFColor(values)¶

setSFFloat(value)¶

setSFInt32(value)¶

setSFRotation(values)¶

setSFString(value)¶

setSFVec2f(values)¶

setSFVec3f(values)¶

property thisown¶: The membership flag

class controller.GPS(name)¶

Bases: controller.Device

static convertToDegreesMinutesSeconds(decimalDegree)¶

disable()¶

enable(samplingPeriod)¶

getCoordinateSystem()¶

getSamplingPeriod()¶

getSpeed()¶

getValues()¶

property thisown¶: The membership flag

controller.GPS_convertToDegreesMinutesSeconds(decimalDegree)¶

class controller.Gyro(name)¶

Bases: controller.Device

disable()¶

enable(samplingPeriod)¶

getLookupTable()¶

getSamplingPeriod()¶

getValues()¶

property thisown¶: The membership flag

class controller.ImageRef(imageRef)¶

Bases: object

getImageRef()¶

property thisown¶: The membership flag

class controller.InertialUnit(name)¶

Bases: controller.Device

disable()¶

enable(samplingPeriod)¶

getNoise()¶

getQuaternion()¶

getRollPitchYaw()¶

getSamplingPeriod()¶

property thisown¶: The membership flag

class controller.Joystick¶

Bases: object

disable()¶

enable(samplingPeriod)¶

getAxisValue(axis)¶

getModel()¶

getNumberOfAxes()¶

getNumberOfPovs()¶

getPovValue(pov)¶

getPressedButton()¶

getSamplingPeriod()¶

isConnected()¶

setAutoCenteringGain(gain)¶

setConstantForce(level)¶

setConstantForceDuration(duration)¶

setForceAxis(axis)¶

setResistanceGain(gain)¶

property thisown¶: The membership flag

class controller.Keyboard¶

Bases: object

disable()¶

enable(samplingPeriod)¶

getKey()¶

getSamplingPeriod()¶

property thisown¶: The membership flag

class controller.LED(name)¶

Bases: controller.Device

get()¶

set(value)¶

property thisown¶: The membership flag

class controller.Lidar(name)¶

Bases: controller.Device

disable()¶

disablePointCloud()¶

enable(samplingPeriod)¶

enablePointCloud()¶

getFov()¶

getFrequency()¶

getHorizontalResolution()¶

getLayerPoint(layer, index)¶

getLayerPointCloud(layer)¶

getLayerRangeImage(layer)¶

getMaxFrequency()¶

getMaxRange()¶

getMinFrequency()¶

getMinRange()¶

getNumberOfLayers()¶

getNumberOfPoints()¶

getPoint(index)¶

getPointCloud(data_type='list')¶

getRangeImage()¶

getRangeImageArray()¶

getSamplingPeriod()¶

getVerticalFov()¶

isPointCloudEnabled()¶

setFrequency(frequency)¶

sys = <module 'sys' (built-in)>¶

property thisown¶: The membership flag

class controller.LidarPoint¶

Bases: object

property layer_id¶

property thisown¶: The membership flag

property time¶

property x¶

property y¶

property z¶

class controller.LightSensor(name)¶

Bases: controller.Device

disable()¶

enable(samplingPeriod)¶

getLookupTable()¶

getSamplingPeriod()¶

getValue()¶

property thisown¶: The membership flag

class controller.Motion(fileName)¶

Bases: object

getDuration()¶

getTime()¶

isOver()¶

isValid()¶

play()¶

setLoop(loop)¶

setReverse(reverse)¶

setTime(time)¶

stop()¶

property thisown¶: The membership flag

class controller.Motor(name)¶

Bases: controller.Device

disableForceFeedback()¶

disableTorqueFeedback()¶

enableForceFeedback(samplingPeriod)¶

enableTorqueFeedback(samplingPeriod)¶

getAcceleration()¶

getAvailableForce()¶

getAvailableTorque()¶

getBrake()¶

getBrakeTag()¶

getForceFeedback()¶

getForceFeedbackSamplingPeriod()¶

getMaxForce()¶

getMaxPosition()¶

getMaxTorque()¶

getMaxVelocity()¶

getMinPosition()¶

getPositionSensor()¶

getPositionSensorTag()¶

getTargetPosition()¶

getTorqueFeedback()¶

getTorqueFeedbackSamplingPeriod()¶

getType()¶

getVelocity()¶

setAcceleration(acceleration)¶

setAvailableForce(availableForce)¶

setAvailableTorque(availableTorque)¶

setControlPID(p, i, d)¶

setForce(force)¶

setPosition(position)¶

setTorque(torque)¶

setVelocity(vel)¶

property thisown¶: The membership flag

class controller.Mouse¶

Bases: object

disable()¶

disable3dPosition()¶

enable(samplingPeriod)¶

enable3dPosition()¶

getSamplingPeriod()¶

getState()¶

is3dPositionEnabled()¶

property thisown¶: The membership flag

class controller.MouseState¶

Bases: object

property left¶

property middle¶

property right¶

property thisown¶: The membership flag

property u¶

property v¶

property x¶

property y¶

property z¶

class controller.Node(*args, **kwargs)¶

Bases: object

addForce(force, relative)¶

addForceWithOffset(force, offset, relative)¶

addTorque(torque, relative)¶

getBaseTypeName()¶

getCenterOfMass()¶

getContactPoint(index)¶

getContactPointNode(index)¶

getDef()¶

getField(fieldName)¶

getFromProtoDef(name)¶

getId()¶

getNumberOfContactPoints(includeDescendants=False)¶

getOrientation()¶

getParentNode()¶

getPosition()¶

getProtoField(fieldName)¶

getStaticBalance()¶

getType()¶

getTypeName()¶

getVelocity()¶

isProto()¶

moveViewpoint()¶

remove()¶

resetPhysics()¶

restartController()¶

setVelocity(velocity)¶

setVisibility(_from, visible)¶

property thisown¶: The membership flag

class controller.Pen(name)¶

Bases: controller.Device

setInkColor(color, density)¶

property thisown¶: The membership flag

write(write)¶

class controller.PositionSensor(name)¶

Bases: controller.Device

disable()¶

enable(samplingPeriod)¶

getBrake()¶

getBrakeTag()¶

getMotor()¶

getMotorTag()¶

getSamplingPeriod()¶

getType()¶

getValue()¶

property thisown¶: The membership flag

class controller.Radar(name)¶

Bases: controller.Device

disable()¶

enable(samplingPeriod)¶

getHorizontalFov()¶

getMaxRange()¶

getMinRange()¶

getNumberOfTargets()¶

getSamplingPeriod()¶

getTarget(index)¶

getTargets()¶

getVerticalFov()¶

property thisown¶: The membership flag

class controller.RadarTarget¶

Bases: object

property azimuth¶

property distance¶

property received_power¶

property speed¶

property thisown¶: The membership flag

class controller.RangeFinder(name)¶

Bases: controller.Device

disable()¶

enable(samplingPeriod)¶

getFov()¶

getHeight()¶

getMaxRange()¶

getMinRange()¶

getRangeImage()¶

getRangeImageArray()¶

getSamplingPeriod()¶

getWidth()¶

static rangeImageGetDepth(*args)¶

static rangeImageGetValue(im, minRange, maxRange, width, x, y)¶

saveImage(filename, quality)¶

property thisown¶: The membership flag

controller.RangeFinder_rangeImageGetDepth(*args)¶

controller.RangeFinder_rangeImageGetValue(im, minRange, maxRange, width, x, y)¶

class controller.Receiver(name)¶

Bases: controller.Device

disable()¶

enable(samplingPeriod)¶

getChannel()¶

getData()¶

getDataSize()¶

getEmitterDirection()¶

getQueueLength()¶

getSamplingPeriod()¶

getSignalStrength()¶

nextPacket()¶

setChannel(channel)¶

property thisown¶: The membership flag

class controller.Robot¶

Bases: object

batterySensorDisable()¶

batterySensorEnable(samplingPeriod)¶

batterySensorGetSamplingPeriod()¶

batterySensorGetValue()¶

createAccelerometer(name)¶

createBrake(name)¶

createCamera(name)¶

createCompass(name)¶

createConnector(name)¶

createDisplay(name)¶

createDistanceSensor(name)¶

createEmitter(name)¶

createGPS(name)¶

createGyro(name)¶

createInertialUnit(name)¶

createLED(name)¶

createLidar(name)¶

createLightSensor(name)¶

createMotor(name)¶

createPen(name)¶

createPositionSensor(name)¶

createRadar(name)¶

createRangeFinder(name)¶

createReceiver(name)¶

createSkin(name)¶

createSpeaker(name)¶

createTouchSensor(name)¶

getAccelerometer(name)¶

getBasicTimeStep()¶

getBrake(name)¶

getCamera(name)¶

getCompass(name)¶

getConnector(name)¶

getCustomData()¶

getData()¶

getDevice(name)¶

getDeviceByIndex(index)¶

static getDeviceFromTag(tag)¶

getDisplay(name)¶

getDistanceSensor(name)¶

getEmitter(name)¶

getGPS(name)¶

getGyro(name)¶

getInertialUnit(name)¶

getJoystick()¶

getKeyboard()¶

getLED(name)¶

getLidar(name)¶

getLightSensor(name)¶

getMode()¶

getModel()¶

getMotor(name)¶

getMouse()¶

getName()¶

getNumberOfDevices()¶

getPen(name)¶

getPositionSensor(name)¶

getProjectPath()¶

getRadar(name)¶

getRangeFinder(name)¶

getReceiver(name)¶

getSkin(name)¶

getSpeaker(name)¶

getSupervisor()¶

getSynchronization()¶

getTime()¶

getTouchSensor(name)¶

getType()¶

getUrdf(*args)¶

getWorldPath()¶

static internalGetDeviceFromTag(tag)¶

joystick = <controller.Joystick; >¶

keyboard = <controller.Keyboard; >¶

mouse = <controller.Mouse; >¶

setCustomData(data)¶

setData(data)¶

setMode(arg2, arg3)¶

step(duration)¶

sys = <module 'sys' (built-in)>¶

property thisown¶: The membership flag

waitForUserInputEvent(event_type, timeout)¶

wwiReceiveText()¶

wwiSendText(text)¶

controller.Robot___internalGetDeviceNameFromTag(tag)¶

controller.Robot___internalGetDeviceTagFromIndex(index)¶

controller.Robot___internalGetDeviceTagFromName(name)¶

controller.Robot___internalGetDeviceTypeFromTag(tag)¶

controller.Robot_getDeviceFromTag(tag)¶

class controller.Skin(name)¶

Bases: controller.Device

getBoneCount()¶

getBoneName(index)¶

getBoneOrientation(index, absolute)¶

getBonePosition(index, absolute)¶

setBoneOrientation(index, orientation, absolute)¶

setBonePosition(index, position, absolute)¶

property thisown¶: The membership flag

class controller.Speaker(name)¶

Bases: controller.Device

getEngine()¶

getLanguage()¶

isSoundPlaying(sound)¶

isSpeaking()¶

static playSound(left, right, sound, volume, pitch, balance, loop)¶

setEngine(engine)¶

setLanguage(language)¶

speak(text, volume)¶

stop(sound)¶

property thisown¶: The membership flag

controller.Speaker_playSound(left, right, sound, volume, pitch, balance, loop)¶

class controller.Supervisor¶

Bases: controller.Robot

animationStartRecording(file)¶

animationStopRecording()¶

exportImage(file, quality)¶

getFromDef(name)¶

getFromDevice(device)¶

getFromId(id)¶

getMovieStatus()¶

getRoot()¶

getSelected()¶

getSelf()¶

loadWorld(file)¶

movieFailed()¶

movieGetStatus()¶

movieIsReady()¶

movieStartRecording(file, width, height, codec, quality, acceleration, caption)¶

movieStopRecording()¶

saveWorld(*args)¶

setLabel(*args)¶

simulationGetMode()¶

simulationPhysicsReset()¶

simulationQuit(status)¶

simulationReset()¶

simulationResetPhysics()¶

simulationRevert()¶

simulationSetMode(mode)¶

startMovie(file, width, height, codec, quality, acceleration, caption)¶

stopMovie()¶

property thisown¶: The membership flag

virtualRealityHeadsetGetOrientation()¶

virtualRealityHeadsetGetPosition()¶

virtualRealityHeadsetIsUsed()¶

worldLoad(file)¶

worldReload()¶

worldSave(*args)¶

class controller.TouchSensor(name)¶

Bases: controller.Device

disable()¶

enable(samplingPeriod)¶

getLookupTable()¶

getSamplingPeriod()¶

getType()¶

getValue()¶

getValues()¶

property thisown¶: The membership flag