Functions
def	buildModelsFromMJCF (filename, root_joint=None, verbose=False, meshLoader=None, geometry_types=None)

def	buildModelsFromSdf (filename, package_dirs=None, root_joint=None, root_link_name="", parent_guidance=[], verbose=False, meshLoader=None, geometry_types=None)

Tuple[pin.Model, pin.GeometryModel, pin.GeometryModel]	buildModelsFromUrdf (filename, package_dirs=None, root_joint=None, verbose=False, meshLoader=None, geometry_types=[pin.GeometryType.COLLISION, pin.GeometryType.VISUAL])

def	createDatas (*models)

Variables
	nle = pin.nonLinearEffects

Function Documentation

◆ buildModelsFromMJCF()

def pinocchio.shortcuts.buildModelsFromMJCF	(	filename,
		root_joint = `None`,
		verbose = `False`,
		meshLoader = `None`,
		geometry_types = `None`
	)

Parse the Mjcf file given in input and return a Pinocchio Model, followed by corresponding GeometryModels of types specified by geometry_types, in the same order as listed.
Examples of usage:
    # load model, constraint models, collision model, and visual model, in this order (default)
    # load model, collision model, and visual model, in this order (default)
    model, collision_model, visual_model = buildModelsFromMJCF(filename[, ...], geometry_types=[pin.GeometryType.COLLISION,pin.GeometryType.VISUAL])
    model, collision_model, visual_model = buildModelsFromMJCF(filename[, ...]) # same as above

    model, collision_model = buildModelsFromMJCF(filename[, ...], geometry_types=[pin.GeometryType.COLLISION]) # only load the model and the collision model
    model, collision_model = buildModelsFromMJCF(filename[, ...], geometry_types=pin.GeometryType.COLLISION)   # same as above
    model, visual_model    = buildModelsFromMJCF(filename[, ...], geometry_types=pin.GeometryType.VISUAL)      # only load the model and the visual model

    model = buildModelsFromMJCF(filename[, ...], geometry_types=[])  # equivalent to buildModelFromMJCF(filename[, root_joint])

Definition at line 147 of file shortcuts.py.

◆ buildModelsFromSdf()

def pinocchio.shortcuts.buildModelsFromSdf	(	filename,
		package_dirs = `None`,
		root_joint = `None`,
		root_link_name = `""`,
		parent_guidance = `[]`,
		verbose = `False`,
		meshLoader = `None`,
		geometry_types = `None`
	)

Parse the SDF file given in input and return a Pinocchio Model and a list of Constraint Models, followed by corresponding GeometryModels of types specified by geometry_types, in the same order as listed.
Examples of usage:
    # load model, constraint models, collision model, and visual model, in this order (default)
    model, constraint_models, collision_model, visual_model = buildModelsFromSdf(filename[, ...], geometry_types=[pin.GeometryType.COLLISION,pin.GeometryType.VISUAL])
    model, constraint_models, collision_model, visual_model = buildModelsFromSdf(filename[, ...]) # same as above
    model, constraint_models, collision_model = buildModelsFromSdf(filename[, ...], geometry_types=[pin.GeometryType.COLLISION]) # only load the model, constraint models and the collision model
    model, constraint_models, collision_model = buildModelsFromSdf(filename[, ...], geometry_types=pin.GeometryType.COLLISION)   # same as above
    model, constraint_models, visual_model    = buildModelsFromSdf(filename[, ...], geometry_types=pin.GeometryType.VISUAL)      # only load the model and the visual model
    model, constraint_models = buildModelsFromSdf(filename[, ...], geometry_types=[])  # equivalent to buildModelFromSdf(filename[, root_joint])

Definition at line 86 of file shortcuts.py.

◆ buildModelsFromUrdf()

Tuple[pin.Model, pin.GeometryModel, pin.GeometryModel] pinocchio.shortcuts.buildModelsFromUrdf	(	filename,
		package_dirs = `None`,
		root_joint = `None`,
		verbose = `False`,
		meshLoader = `None`,
		geometry_types = `[pin.GeometryType.COLLISION, pin.GeometryType.VISUAL]`
	)

Parse the URDF file given in input and return a Pinocchio Model followed by corresponding GeometryModels of types specified by geometry_types, in the same order as listed.
Examples of usage:
    # load model, collision model, and visual model, in this order (default)
    model, collision_model, visual_model = buildModelsFromUrdf(filename[, ...], geometry_types=[pin.GeometryType.COLLISION,pin.GeometryType.VISUAL])
    model, collision_model, visual_model = buildModelsFromUrdf(filename[, ...]) # same as above

    model, collision_model = buildModelsFromUrdf(filename[, ...], geometry_types=[pin.GeometryType.COLLISION]) # only load the model and the collision model
    model, collision_model = buildModelsFromUrdf(filename[, ...], geometry_types=pin.GeometryType.COLLISION)   # same as above
    model, visual_model    = buildModelsFromUrdf(filename[, ...], geometry_types=pin.GeometryType.VISUAL)      # only load the model and the visual model

    model = buildModelsFromUrdf(filename[, ...], geometry_types=[])  # equivalent to buildModelFromUrdf(filename[, root_joint])

Remark:
    Remark: In the URDF format, a joint of type fixed can be defined.
    For efficiency reasons, it is treated as operational frame and not as a joint of the model.

Definition at line 14 of file shortcuts.py.

◆ createDatas()

def pinocchio.shortcuts.createDatas ( * models )

Call createData() on each Model or GeometryModel in input and return the results in a tuple.
If one of the models is None, the corresponding data object in the result is also None.

Definition at line 79 of file shortcuts.py.

Variable Documentation

◆ nle

pinocchio.shortcuts.nle = pin.nonLinearEffects

Definition at line 11 of file shortcuts.py.

Functions