  Sim | |
   Model | Model is responsible of giving information of a physical robot |
| JointSymmetry | JointSymmetry defines a symmetry between two joints |
| JointGroup | JointGroup is a predefined and named ordered group of joints that allow simpler calls of ALMotion API |
| Frame | Frame defines a position in space and has a name |
| Joint | Joint defines an articulation of the robot |
| MassData | MassData embeds information about the inertial mass of a physical object |
| VisualData | VisualData embeds information about the visualization of a physical object |
| Link | Link defines a solid and mobile part of the robot |
| Actuator | Actuator is a generic class defining a robot owned object that have an influence on it and/or its environment |
| ActuatorGroup | ActuatorSymmetry is a predefined and named ordered group of actuators that allows simpler calls of ALMotion API |
| DCMActuator | DCMActuator defines a generic actuator which commands are communicated through the DCM |
| AngleActuator | AngleActuator is a class defining an angular motor. It is attached to the joint that it can actuate |
| CoupledActuator | CoupledActuator is a class defining a coupled motor. It is attached to several joints and can actuate them. Its command is between 0 and 1 |
| TorqueActuator | TorqueActuator is a class defining a torque-controlled motor. It is attached to one joint and can actuate it |
| AngleSpeedActuator | AngleSpeedActuator is a class defining a speed-controlled motor. It is attached to one joint and can actuate it |
| WheelTorqueActuator | WheelTorqueActuator is a class defining an actuator that drives a wheel |
| WheelVelocityActuator | WheelVelocityActuator is a class defining an actuator that drives a wheel |
| LEDActuator | LEDActuator is a class defining a LED actuator |
| Sensor | Sensor is a generic class defining a robot owned object that measure a quantity about it or its environment |
| DCMSensor | DCMSensor defines a generic sensor which values are communicated through the DCM |
| AngleSensor | AngleSensor is a class defining an angular sensor. It is attached to an angular motor (it has the same name) and can measure its rotation |
| CoupledSensor | CoupledSensor is a class defining a coupled sensor |
| TorqueSensor | TorqueSensor is a class defining an torque sensor. It is attached to a torque motor (it has the same name) and can measure its torque |
| AngleSpeedSensor | AngleSpeedSensor is a class defining an angle speed sensor. It is attached to an angle speed motor (it has the same name) and can measure its angle speed |
| WheelVelocitySensor | WheelVelocitySensor is a class defining a wheel velocity sensor. It is to a wheel velocity motor (it has the same name) and can measure its wheel velocity |
| BaseCamera | BaseCamera is the base class of Camera classes |
| CameraSensor | CameraSensor is a class defining a camera |
| CameraStereoSensor | CameraStereoSensor is a class defining a camera |
| CameraDepthSensor | CameraDepthSensor is a class defining a depth sensing camera |
| FSRSensor | FSRSensor is a class defining a Force Sensitive Resistor sensor |
| InertialSensor | InertialSensor is a class defining a inertial unit sensor |
| SonarSensor | SonarSensor is a class defining a sonar sensor |
| BumperSensor | BumperSensor is a class defining a bumper sensor |
| TactileSensor | TactileSensor is a class defining a tactile sensor |
| SingleDepthSensor | SingleDepthSensor is a class defining a sensor that provides a single depth measurement |
| ArrayDepthSensor | ArrayDepthSensor is a class defining a sensor made of an array of depth sensors |
 MicrophoneSensor | MicrophoneSensor is a class defining a microphone sensor |
