(body)

(constraint)

(pr2, p_false_neg=0, camera_link=HEAD_LINK_NAME, exclude_links=set(), color=None, **kwargs)

(p1, p2)

(robot, joints, max_velocities=None, max_accelerations=None, duration_to_max=1.)

(body, joint)

(body, joint)

(body, joints)

(body, link)

(body, link, kinematics=True, velocity=True)

(body, joint)

(body)

(body)

()

(body, under=False, tool_pose=TOOL_POSE, body_pose=unit_pose(), max_width=MAX_GRASP_WIDTH,

(body, under=False, tool_pose=TOOL_POSE, body_pose=unit_pose(), max_width=MAX_GRASP_WIDTH,

(depth=MAX_VISUAL_DISTANCE, camera_matrix=None)

(point)

(arm)

(body, name)

(robot, arm)

(robot, arm)

(robot, link, target_pose, max_iterations=200, max_time=INF, custom_limits={}, **kwargs)

(ikfast_info)

(self)

(arm, grasp_type)

(self, voxel)

(body, joints)

(body, joints, end_conf, **kwargs)

(self, v)

(self, vn)

(debug)

(self)

(body, values)

(body, link=BASE_LINK, **kwargs)

(body, euler)

(self, voxel)

(body, x=None, y=None, z=None)

(body, quat)

(self, point_grid)

(robot, gripper_pose, **kwargs)

()

(body, joints, velocities)

(*args, **kwargs)

(path, difference_fn=None, tolerance=1e-3)

(theta, **kwargs)

(point, container)

(body, robot, robot_link=BASE_LINK, max_force=None)

(text, position=unit_point(), color=BLACK, lifetime=None, parent=NULL_ID, parent_link=BASE_LINK)

(self, state, **kwargs)

(color, alpha=1.)

(body, link1, link2)

(self)

(fluents)

(self)

(body, target=np.zeros(3))

(self, obj, vlist, nlist, tlist)

(self)

(fn, cache=True, **global_kargs)

(self, voxel)

(self, box, voxel, pairs, threshold=0.)

(ikfast_info)

(robot, joints, conf, tool_link, target_pose, tolerance=1e-6)

(lower=-PI)

(body, link, client=None)

(body, link, client=None)

(robot, gripper_joints, bodies=[], open_conf=None, closed_conf=None, num_steps=25, **kwargs)

(fk_fn, conf)

(ik_fn, pose, sampled=[])

(target_position, distance, yaw, pitch, roll=0., z_up=True)

(condition)

(support)

(support, cone_only=True)

(**kwargs)

(self, voxel)

(self, bodyUid, linkIndex, urdfLink, physicsClientId)

(vertices)

(self)

(self)

(radius, mass=STATIC_MASS, color=BLUE, **kwargs)

(robot, first_joint, target_link)

()

(limits, z=1e-2, **kwargs)

(oobb, origin=False, **kwargs)

(pose2d, z=0., d=2, **kwargs)

(robot, ikfast_info, tool_link, world_from_target, fixed_joints=[], use_pybullet