Public Member Functions | Public Attributes | List of all members
mobilerobot.MobileRobotWrapper Class Reference
Inheritance diagram for mobilerobot.MobileRobotWrapper:
Inheritance graph
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Public Member Functions

def __init__ (self, urdf, pkgs)
 
def display (self, q)
 
def initDisplay (self, loadModel)
 
- Public Member Functions inherited from pinocchio.robot_wrapper.RobotWrapper
def __init__ (self, model=pin.Model(), collision_model=None, visual_model=None, verbose=False)
 
def acceleration (self, q, v, a, index, update_kinematics=True, reference_frame=pin.ReferenceFrame.LOCAL)
 
def acom (self, q, v, a)
 
def buildReducedRobot (self, list_of_joints_to_lock, reference_configuration=None)
 
def centroidal (self, q, v)
 
def centroidalMap (self, q)
 
def centroidalMomentum (self, q, v)
 
def centroidalMomentumVariation (self, q, v, a)
 
def classicalAcceleration (self, q, v, a, index, update_kinematics=True, reference_frame=pin.ReferenceFrame.LOCAL)
 
def com (self, q=None, v=None, a=None)
 
def computeFrameJacobian (self, q, frame_id)
 
def computeJointJacobian (self, q, index)
 
def computeJointJacobians (self, q)
 
def display (self, q)
 
def displayCollisions (self, visibility)
 
def displayVisuals (self, visibility)
 
def forwardKinematics (self, q, v=None, a=None)
 
def frameAcceleration (self, q, v, a, index, update_kinematics=True, reference_frame=pin.ReferenceFrame.LOCAL)
 
def frameClassicAcceleration (self, index)
 
def frameClassicalAcceleration (self, q, v, a, index, update_kinematics=True, reference_frame=pin.ReferenceFrame.LOCAL)
 
def frameJacobian (self, q, frame_id)
 
def framePlacement (self, q, index, update_kinematics=True)
 
def framesForwardKinematics (self, q)
 
def frameVelocity (self, q, v, index, update_kinematics=True, reference_frame=pin.ReferenceFrame.LOCAL)
 
def getFrameJacobian (self, frame_id, rf_frame=pin.ReferenceFrame.LOCAL)
 
def getJointJacobian (self, index, rf_frame=pin.ReferenceFrame.LOCAL)
 
def getViewerNodeName (self, geometry_object, geometry_type)
 
def gravity (self, q)
 
def index (self, name)
 
def initDisplay (self, windowName="python-pinocchio", sceneName="world", loadModel=False)
 
def initFromURDF (self, filename, package_dirs=None, root_joint=None, verbose=False, meshLoader=None)
 
def initMeshcatDisplay (self, meshcat_visualizer, robot_name="pinocchio", robot_color=None)
 
def initViewer (self, share_data=True, args, kwargs)
 
def Jcom (self, q)
 
def jointJacobian (self, q, index)
 
def loadDisplayModel (self, rootNodeName="pinocchio")
 
def loadViewerModel (self, args, kwargs)
 
def mass (self, q)
 
def nle (self, q, v)
 
def nq (self)
 
def nv (self)
 
def placement (self, q, index, update_kinematics=True)
 
def play (self, q_trajectory, dt)
 
def rebuildData (self)
 
def setVisualizer (self, visualizer, init=True, copy_models=False)
 
def updateGeometryPlacements (self, q=None, visual=False)
 
def vcom (self, q, v)
 
def velocity (self, q, v, index, update_kinematics=True, reference_frame=pin.ReferenceFrame.LOCAL)
 
def viewer (self)
 

Public Attributes

 data
 
- Public Attributes inherited from pinocchio.robot_wrapper.RobotWrapper
 collision_data
 
 collision_model
 
 data
 
 model
 
 q0
 
 v0
 
 visual_data
 
 visual_model
 
 viz
 

Additional Inherited Members

- Static Public Member Functions inherited from pinocchio.robot_wrapper.RobotWrapper
def BuildFromURDF (filename, package_dirs=None, root_joint=None, verbose=False, meshLoader=None)
 

Detailed Description

The class models a mobile robot with UR5 arm, feature 3+6 DOF.
The configuration of the basis is represented by [X, Y, cos, sin], with the additionnal constraint
that (cos, sin) should have norm 1. Hence take care when sampling and integrating configurations.
The robot is depicted as an orange box with two black cylinders (wheels) atop of which is the
classical (realistic) UR5 model.
The model also features to OPERATIONAL frames, named "mobile" (on the front of the mobile basis, 30cm
above the ground) and "tool" (at the very end of the effector).

Definition at line 8 of file mobilerobot.py.

Constructor & Destructor Documentation

◆ __init__()

def mobilerobot.MobileRobotWrapper.__init__ (   self,
  urdf,
  pkgs 
)

Definition at line 19 of file mobilerobot.py.

Member Function Documentation

◆ display()

def mobilerobot.MobileRobotWrapper.display (   self,
  q 
)

Definition at line 58 of file mobilerobot.py.

◆ initDisplay()

def mobilerobot.MobileRobotWrapper.initDisplay (   self,
  loadModel 
)

Definition at line 38 of file mobilerobot.py.

Member Data Documentation

◆ data

mobilerobot.MobileRobotWrapper.data

Definition at line 36 of file mobilerobot.py.


The documentation for this class was generated from the following file:


pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:34