- nextRevoluteJointChain
Generates a random kinematic chain composed of rigid-bodies and revolute joints.
The joints and rig
- nextState
Generates a random state and update the given joints with it.
- nextStateWithinJointLimits
Generates a random state and update the given joints with it. The random state
is guaranteed to be w
- nextRevoluteJoint
Generates a revolute joint with random physical parameters and attaches it to
the given predecessor.
- nextRevoluteJointTree
Generates a random kinematic tree composed of rigid-bodies and revolute joints.
The joints and rigi
- nextRigidBody
Generates a rigid-body with random physical parameters and attaches it to the
given parentJoint.
- nextOneDoFJointChain
Generates a random kinematic chain composed of rigid-bodies and 1-DoF joints.
The joints and rigid-
- nextOneDoFJointTree
Generates a random kinematic tree composed of rigid-bodies and 1-DoF joints. The
joints and rigid-bo
- nextPrismaticJointChain
Generates a random kinematic chain composed of rigid-bodies and prismatic
joints. The joints and rig
- nextPrismaticJointTree
Generates a random kinematic tree composed of rigid-bodies and prismatic joints.
The joints and rig
- nextFixedJoint
Generates a 0-DoF fixed joint with random physical parameters and attaches it to
the given predecess
- nextJoint
Generates a joint with random type and physical parameters and attaches it to
the given predecessor.