Variables
	collision_model

	collision_model_reduced

list	geom_models = [visual_model, collision_model]

	geometric_models_reduced

	initialJointConfig

list	jointsToLock = ['wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']

list	jointsToLockIDs = []

	list_of_geom_models

	list_of_joints_to_lock

	mesh_dir = pinocchio_model_dir

list	mixed_jointsToLockIDs = [jointsToLockIDs[0], 'wrist_2_joint', 'wrist_3_joint']

	model

string	model_path = pinocchio_model_dir+'/example-robot-data/robots'

	model_reduced = pin.buildReducedModel(model, jointsToLockIDs, initialJointConfig)

	pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")

	reduced_robot

	reference_configuration

	robot = pin.RobotWrapper.BuildFromURDF(urdf_filename, mesh_dir)

string	urdf_filename = model_path+'/ur_description/urdf/ur5_robot.urdf'

	visual_model

	visual_model_reduced

Variable Documentation

build-reduced-model.collision_model

Definition at line 15 of file build-reduced-model.py.

build-reduced-model.collision_model_reduced

Definition at line 53 of file build-reduced-model.py.

list build-reduced-model.geom_models = [visual_model, collision_model]

Definition at line 46 of file build-reduced-model.py.

build-reduced-model.geometric_models_reduced

Definition at line 47 of file build-reduced-model.py.

build-reduced-model.initialJointConfig

Initial value:

1 = np.array([0,0,0, # shoulder and elbow

2 1,1,1])

Definition at line 35 of file build-reduced-model.py.

list build-reduced-model.jointsToLock = ['wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']

Definition at line 24 of file build-reduced-model.py.

list build-reduced-model.jointsToLockIDs = []

Definition at line 27 of file build-reduced-model.py.

build-reduced-model.list_of_geom_models

Definition at line 49 of file build-reduced-model.py.

build-reduced-model.list_of_joints_to_lock

Definition at line 50 of file build-reduced-model.py.

build-reduced-model.mesh_dir = pinocchio_model_dir

Definition at line 12 of file build-reduced-model.py.

list build-reduced-model.mixed_jointsToLockIDs = [jointsToLockIDs[0], 'wrist_2_joint', 'wrist_3_joint']

Definition at line 65 of file build-reduced-model.py.

build-reduced-model.model

Definition at line 15 of file build-reduced-model.py.

string build-reduced-model.model_path = pinocchio_model_dir+'/example-robot-data/robots'

Definition at line 11 of file build-reduced-model.py.

build-reduced-model.model_reduced = pin.buildReducedModel(model, jointsToLockIDs, initialJointConfig)

Definition at line 39 of file build-reduced-model.py.

build-reduced-model.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")

Definition at line 10 of file build-reduced-model.py.

build-reduced-model.reduced_robot

Initial value:

1 = robot.buildReducedRobot(list_of_joints_to_lock=mixed_jointsToLockIDs,

2 reference_configuration=initialJointConfig)

Definition at line 67 of file build-reduced-model.py.

build-reduced-model.reference_configuration

Definition at line 51 of file build-reduced-model.py.

build-reduced-model.robot = pin.RobotWrapper.BuildFromURDF(urdf_filename, mesh_dir)

Definition at line 66 of file build-reduced-model.py.

string build-reduced-model.urdf_filename = model_path+'/ur_description/urdf/ur5_robot.urdf'

Definition at line 14 of file build-reduced-model.py.

build-reduced-model.visual_model

Definition at line 15 of file build-reduced-model.py.

build-reduced-model.visual_model_reduced

Definition at line 42 of file build-reduced-model.py.

Variables

Variable Documentation