append-urdf-model-with-another-model Namespace Reference

Variables
	body_inertia = pin.Inertia.FromSphere(body_mass, body_radius)
float	body_mass = 1.0
	body_placement = joint_placement.copy()
int	body_radius = 1e-2
	collision_model1
	frame_id_end_effector = model1.getFrameId("tool0")
string	geom1_name = "ball"
	geom1_obj = pin.GeometryObject(geom1_name, joint_id, body_placement, shape1)
string	geom2_name = "bar"
	geom2_obj = pin.GeometryObject(geom2_name, joint_id, shape2_placement, shape2)
	geom_model = pin.GeometryModel()
	joint_id
string	joint_name = "joint_spherical"
	joint_placement = pin.SE3.Identity()
string	mesh_dir = pinocchio_model_dir
	meshColor
	model
	model1
	model2 = pin.Model()
string	model_path = pinocchio_model_dir / "example-robot-data/robots"
	name
	open
	package_dirs
int	parent_id = 0
string	pinocchio_model_dir = Path(__file__).parent.parent / "models"
	q = pin.randomConfiguration(model)
	shape1 = fcl.Sphere(body_radius)
	shape2 = fcl.Cylinder(body_radius / 4.0, body_placement.translation[2])
	shape2_placement = body_placement.copy()
string	urdf_filename = "ur5_robot.urdf"
string	urdf_model_path = model_path / "ur_description/urdf" / urdf_filename
	visual_model
	visual_model1
	visual_model2 = geom_model
	viz = Visualizer(model, visual_model, visual_model)

Variable Documentation

body_inertia

append-urdf-model-with-another-model.body_inertia = pin.Inertia.FromSphere(body_mass, body_radius)

Definition at line 37 of file append-urdf-model-with-another-model.py.

body_mass

float append-urdf-model-with-another-model.body_mass = 1.0

Definition at line 29 of file append-urdf-model-with-another-model.py.

body_placement

append-urdf-model-with-another-model.body_placement = joint_placement.copy()

Definition at line 38 of file append-urdf-model-with-another-model.py.

body_radius

int append-urdf-model-with-another-model.body_radius = 1e-2

Definition at line 30 of file append-urdf-model-with-another-model.py.

collision_model1

append-urdf-model-with-another-model.collision_model1

Definition at line 18 of file append-urdf-model-with-another-model.py.

frame_id_end_effector

append-urdf-model-with-another-model.frame_id_end_effector = model1.getFrameId("tool0")

Definition at line 60 of file append-urdf-model-with-another-model.py.

geom1_name

string append-urdf-model-with-another-model.geom1_name = "ball"

Definition at line 42 of file append-urdf-model-with-another-model.py.

geom1_obj

append-urdf-model-with-another-model.geom1_obj = pin.GeometryObject(geom1_name, joint_id, body_placement, shape1)

Definition at line 44 of file append-urdf-model-with-another-model.py.

geom2_name

string append-urdf-model-with-another-model.geom2_name = "bar"

Definition at line 48 of file append-urdf-model-with-another-model.py.

geom2_obj

append-urdf-model-with-another-model.geom2_obj = pin.GeometryObject(geom2_name, joint_id, shape2_placement, shape2)

Definition at line 53 of file append-urdf-model-with-another-model.py.

geom_model

append-urdf-model-with-another-model.geom_model = pin.GeometryModel()

Definition at line 25 of file append-urdf-model-with-another-model.py.

joint_id

append-urdf-model-with-another-model.joint_id

Initial value:

=  model2.addJoint(
    parent_id, pin.JointModelSpherical(), joint_placement, joint_name
)

Definition at line 33 of file append-urdf-model-with-another-model.py.

joint_name

string append-urdf-model-with-another-model.joint_name = "joint_spherical"

Definition at line 32 of file append-urdf-model-with-another-model.py.

joint_placement

append-urdf-model-with-another-model.joint_placement = pin.SE3.Identity()

Definition at line 28 of file append-urdf-model-with-another-model.py.

mesh_dir

string append-urdf-model-with-another-model.mesh_dir = pinocchio_model_dir

Definition at line 14 of file append-urdf-model-with-another-model.py.

meshColor

append-urdf-model-with-another-model.meshColor

Definition at line 45 of file append-urdf-model-with-another-model.py.

model

append-urdf-model-with-another-model.model

Definition at line 61 of file append-urdf-model-with-another-model.py.

model1

append-urdf-model-with-another-model.model1

Definition at line 18 of file append-urdf-model-with-another-model.py.

model2

append-urdf-model-with-another-model.model2 = pin.Model()

Definition at line 23 of file append-urdf-model-with-another-model.py.

model_path

string append-urdf-model-with-another-model.model_path = pinocchio_model_dir / "example-robot-data/robots"

Definition at line 13 of file append-urdf-model-with-another-model.py.

name

append-urdf-model-with-another-model.name

Definition at line 24 of file append-urdf-model-with-another-model.py.

open

append-urdf-model-with-another-model.open

Definition at line 77 of file append-urdf-model-with-another-model.py.

package_dirs

append-urdf-model-with-another-model.package_dirs

Definition at line 19 of file append-urdf-model-with-another-model.py.

parent_id

int append-urdf-model-with-another-model.parent_id = 0

Definition at line 27 of file append-urdf-model-with-another-model.py.

pinocchio_model_dir

string append-urdf-model-with-another-model.pinocchio_model_dir = Path(__file__).parent.parent / "models"

Definition at line 11 of file append-urdf-model-with-another-model.py.

q

append-urdf-model-with-another-model.q = pin.randomConfiguration(model)

Definition at line 92 of file append-urdf-model-with-another-model.py.

shape1

append-urdf-model-with-another-model.shape1 = fcl.Sphere(body_radius)

Definition at line 43 of file append-urdf-model-with-another-model.py.

shape2

append-urdf-model-with-another-model.shape2 = fcl.Cylinder(body_radius / 4.0, body_placement.translation[2])

Definition at line 49 of file append-urdf-model-with-another-model.py.

shape2_placement

append-urdf-model-with-another-model.shape2_placement = body_placement.copy()

Definition at line 50 of file append-urdf-model-with-another-model.py.

urdf_filename

string append-urdf-model-with-another-model.urdf_filename = "ur5_robot.urdf"

Definition at line 15 of file append-urdf-model-with-another-model.py.

urdf_model_path

append-urdf-model-with-another-model.urdf_model_path = model_path / "ur_description/urdf" / urdf_filename

Definition at line 16 of file append-urdf-model-with-another-model.py.

visual_model

append-urdf-model-with-another-model.visual_model

Definition at line 61 of file append-urdf-model-with-another-model.py.

visual_model1

append-urdf-model-with-another-model.visual_model1

Definition at line 18 of file append-urdf-model-with-another-model.py.

visual_model2

append-urdf-model-with-another-model.visual_model2 = geom_model

Definition at line 57 of file append-urdf-model-with-another-model.py.

viz

append-urdf-model-with-another-model.viz = Visualizer(model, visual_model, visual_model)

Definition at line 76 of file append-urdf-model-with-another-model.py.