pinocchio.robot_wrapper.RobotWrapper Class Reference

Inheritance diagram for pinocchio.robot_wrapper.RobotWrapper:

Public Member Functions
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)

Static Public Member Functions
def	BuildFromURDF (filename, package_dirs=None, root_joint=None, verbose=False, meshLoader=None)

Public Attributes
	collision_data
	collision_model
	data
	model
	q0
	v0
	visual_data
	visual_model
	viz

Detailed Description

Definition at line 12 of file robot_wrapper.py.

Constructor & Destructor Documentation

__init__()

def pinocchio.robot_wrapper.RobotWrapper.__init__	(		self,
			model = pin.Model(),
			collision_model = None,
			visual_model = None,
			verbose = False
	)

Definition at line 24 of file robot_wrapper.py.

Member Function Documentation

acceleration()

def pinocchio.robot_wrapper.RobotWrapper.acceleration	(		self,
			q,
			v,
			a,
			index,
			update_kinematics = True,
			reference_frame = pin.ReferenceFrame.LOCAL
	)

Definition at line 115 of file robot_wrapper.py.

acom()

def pinocchio.robot_wrapper.RobotWrapper.acom	(		self,
			q,
			v,
			a
	)

Definition at line 61 of file robot_wrapper.py.

BuildFromURDF()

def pinocchio.robot_wrapper.RobotWrapper.BuildFromURDF (   filename,   package_dirs = None,   root_joint = None,   verbose = False,   meshLoader = None  )

static

Definition at line 15 of file robot_wrapper.py.

buildReducedRobot()

def pinocchio.robot_wrapper.RobotWrapper.buildReducedRobot	(		self,
			list_of_joints_to_lock,
			reference_configuration = None
	)

  Build a reduced robot model given a list of joints to lock.
  Parameters:
  \tlist_of_joints_to_lock: list of joint indexes/names to lock.
  \treference_configuration: reference configuration to compute the
  placement of the lock joints. If not provided, reference_configuration
  defaults to the robot's neutral configuration.

  Returns: a new robot model.

Definition at line 180 of file robot_wrapper.py.

centroidal()

def pinocchio.robot_wrapper.RobotWrapper.centroidal	(		self,
			q,
			v
	)

Computes all the quantities related to the centroidal dynamics (hg, Ag and Ig), corresponding to the centroidal momentum, the centroidal map and the centroidal rigid inertia.

Definition at line 74 of file robot_wrapper.py.

centroidalMap()

def pinocchio.robot_wrapper.RobotWrapper.centroidalMap	(		self,
			q
	)

Computes the centroidal momentum matrix which maps from the joint velocity vector to the centroidal momentum expressed around the center of mass.

Definition at line 68 of file robot_wrapper.py.

centroidalMomentum()

def pinocchio.robot_wrapper.RobotWrapper.centroidalMomentum	(		self,
			q,
			v
	)

Definition at line 65 of file robot_wrapper.py.

centroidalMomentumVariation()

def pinocchio.robot_wrapper.RobotWrapper.centroidalMomentumVariation	(		self,
			q,
			v,
			a
	)

Definition at line 81 of file robot_wrapper.py.

classicalAcceleration()

def pinocchio.robot_wrapper.RobotWrapper.classicalAcceleration	(		self,
			q,
			v,
			a,
			index,
			update_kinematics = True,
			reference_frame = pin.ReferenceFrame.LOCAL
	)

Definition at line 120 of file robot_wrapper.py.

com()

def pinocchio.robot_wrapper.RobotWrapper.com	(		self,
			q = None,
			v = None,
			a = None
	)

Definition at line 45 of file robot_wrapper.py.

computeFrameJacobian()

def pinocchio.robot_wrapper.RobotWrapper.computeFrameJacobian	(		self,
			q,
			frame_id
	)

    Similar to getFrameJacobian but does not need pin.computeJointJacobians and
    pin.updateFramePlacements to update internal value of self.data related to frames.

Definition at line 227 of file robot_wrapper.py.

computeJointJacobian()

def pinocchio.robot_wrapper.RobotWrapper.computeJointJacobian	(		self,
			q,
			index
	)

Definition at line 153 of file robot_wrapper.py.

computeJointJacobians()

def pinocchio.robot_wrapper.RobotWrapper.computeJointJacobians	(		self,
			q
	)

Definition at line 159 of file robot_wrapper.py.

display()

def pinocchio.robot_wrapper.RobotWrapper.display	(		self,
			q
	)

Display the robot at configuration q in the viewer by placing all the bodies.

Definition at line 326 of file robot_wrapper.py.

displayCollisions()

def pinocchio.robot_wrapper.RobotWrapper.displayCollisions	(		self,
			visibility
	)

Set whether to diplay collision objects or not

Definition at line 330 of file robot_wrapper.py.

displayVisuals()

def pinocchio.robot_wrapper.RobotWrapper.displayVisuals	(		self,
			visibility
	)

Set whether to diplay visual objects or not

Definition at line 334 of file robot_wrapper.py.

forwardKinematics()

def pinocchio.robot_wrapper.RobotWrapper.forwardKinematics	(		self,
			q,
			v = None,
			a = None
	)

Definition at line 96 of file robot_wrapper.py.

frameAcceleration()

def pinocchio.robot_wrapper.RobotWrapper.frameAcceleration	(		self,
			q,
			v,
			a,
			index,
			update_kinematics = True,
			reference_frame = pin.ReferenceFrame.LOCAL
	)

Definition at line 135 of file robot_wrapper.py.

frameClassicAcceleration()

def pinocchio.robot_wrapper.RobotWrapper.frameClassicAcceleration	(		self,
			index
	)

Definition at line 146 of file robot_wrapper.py.

frameClassicalAcceleration()

def pinocchio.robot_wrapper.RobotWrapper.frameClassicalAcceleration	(		self,
			q,
			v,
			a,
			index,
			update_kinematics = True,
			reference_frame = pin.ReferenceFrame.LOCAL
	)

Definition at line 140 of file robot_wrapper.py.

frameJacobian()

def pinocchio.robot_wrapper.RobotWrapper.frameJacobian	(		self,
			q,
			frame_id
	)

    Similar to getFrameJacobian but does not need pin.computeJointJacobians and
    pin.updateFramePlacements to update internal value of self.data related to frames.

Definition at line 220 of file robot_wrapper.py.

framePlacement()

def pinocchio.robot_wrapper.RobotWrapper.framePlacement	(		self,
			q,
			index,
			update_kinematics = True
	)

Definition at line 125 of file robot_wrapper.py.

framesForwardKinematics()

def pinocchio.robot_wrapper.RobotWrapper.framesForwardKinematics	(		self,
			q
	)

Definition at line 175 of file robot_wrapper.py.

frameVelocity()

def pinocchio.robot_wrapper.RobotWrapper.frameVelocity	(		self,
			q,
			v,
			index,
			update_kinematics = True,
			reference_frame = pin.ReferenceFrame.LOCAL
	)

Definition at line 130 of file robot_wrapper.py.

getFrameJacobian()

def pinocchio.robot_wrapper.RobotWrapper.getFrameJacobian	(		self,
			frame_id,
			rf_frame = pin.ReferenceFrame.LOCAL
	)

    It computes the Jacobian of frame given by its id (frame_id) either expressed in the
    local coordinate frame or in the world coordinate frame.

Definition at line 212 of file robot_wrapper.py.

getJointJacobian()

def pinocchio.robot_wrapper.RobotWrapper.getJointJacobian	(		self,
			index,
			rf_frame = pin.ReferenceFrame.LOCAL
	)

Definition at line 156 of file robot_wrapper.py.

getViewerNodeName()

def pinocchio.robot_wrapper.RobotWrapper.getViewerNodeName	(		self,
			geometry_object,
			geometry_type
	)

For each geometry object, returns the corresponding name of the node in the display.

Definition at line 273 of file robot_wrapper.py.

gravity()

def pinocchio.robot_wrapper.RobotWrapper.gravity	(		self,
			q
	)

Definition at line 93 of file robot_wrapper.py.

index()

def pinocchio.robot_wrapper.RobotWrapper.index	(		self,
			name
	)

Definition at line 255 of file robot_wrapper.py.

initDisplay()

def pinocchio.robot_wrapper.RobotWrapper.initDisplay	(		self,
			windowName = "python-pinocchio",
			sceneName = "world",
			loadModel = False
	)

Definition at line 300 of file robot_wrapper.py.

initFromURDF()

def pinocchio.robot_wrapper.RobotWrapper.initFromURDF	(		self,
			filename,
			package_dirs = None,
			root_joint = None,
			verbose = False,
			meshLoader = None
	)

Definition at line 20 of file robot_wrapper.py.

initMeshcatDisplay()

def pinocchio.robot_wrapper.RobotWrapper.initMeshcatDisplay	(		self,
			meshcat_visualizer,
			robot_name = "pinocchio",
			robot_color = None
	)

Load the robot in a Meshcat viewer.
Parameters:
    visualizer: the meshcat.Visualizer instance to use.
    robot_name: name to give to the robot in the viewer
    robot_color: optional, color to give to the robot. This overwrites the color present in the urdf.
         Format is a list of four RGBA floats (between 0 and 1)

Definition at line 304 of file robot_wrapper.py.

initViewer()

def pinocchio.robot_wrapper.RobotWrapper.initViewer	(		self,
			share_data = True,
			args,
			kwargs
	)

Init the viewer

Definition at line 277 of file robot_wrapper.py.

Jcom()

def pinocchio.robot_wrapper.RobotWrapper.Jcom	(		self,
			q
	)

Definition at line 84 of file robot_wrapper.py.

jointJacobian()

def pinocchio.robot_wrapper.RobotWrapper.jointJacobian	(		self,
			q,
			index
	)

Definition at line 150 of file robot_wrapper.py.

loadDisplayModel()

def pinocchio.robot_wrapper.RobotWrapper.loadDisplayModel	(		self,
			rootNodeName = "pinocchio"
	)

Create the scene displaying the robot meshes in gepetto-viewer

Definition at line 322 of file robot_wrapper.py.

loadViewerModel()

def pinocchio.robot_wrapper.RobotWrapper.loadViewerModel	(		self,
			args,
			kwargs
	)

Create the scene displaying the robot meshes in gepetto-viewer

Definition at line 317 of file robot_wrapper.py.

mass()

def pinocchio.robot_wrapper.RobotWrapper.mass	(		self,
			q
	)

Definition at line 87 of file robot_wrapper.py.

nle()

def pinocchio.robot_wrapper.RobotWrapper.nle	(		self,
			q,
			v
	)

Definition at line 90 of file robot_wrapper.py.

nq()

def pinocchio.robot_wrapper.RobotWrapper.nq

(

self

)

Definition at line 38 of file robot_wrapper.py.

nv()

def pinocchio.robot_wrapper.RobotWrapper.nv

(

self

)

Definition at line 42 of file robot_wrapper.py.

placement()

def pinocchio.robot_wrapper.RobotWrapper.placement	(		self,
			q,
			index,
			update_kinematics = True
	)

Definition at line 105 of file robot_wrapper.py.

play()

def pinocchio.robot_wrapper.RobotWrapper.play	(		self,
			q_trajectory,
			dt
	)

Play a trajectory with given time step

Definition at line 338 of file robot_wrapper.py.

rebuildData()

def pinocchio.robot_wrapper.RobotWrapper.rebuildData

(

self

)

Re-build the data objects. Needed if the models were modified.
Warning: this will delete any information stored in all data objects.

Definition at line 234 of file robot_wrapper.py.

setVisualizer()

def pinocchio.robot_wrapper.RobotWrapper.setVisualizer	(		self,
			visualizer,
			init = True,
			copy_models = False
	)

Set the visualizer. If init is True, the visualizer is initialized with this wrapper's models.
If copy_models is also True, the models are copied. Otherwise, they are simply kept as a reference.

Definition at line 265 of file robot_wrapper.py.

updateGeometryPlacements()

def pinocchio.robot_wrapper.RobotWrapper.updateGeometryPlacements	(		self,
			q = None,
			visual = False
	)

Definition at line 162 of file robot_wrapper.py.

vcom()

def pinocchio.robot_wrapper.RobotWrapper.vcom	(		self,
			q,
			v
	)

Definition at line 57 of file robot_wrapper.py.

velocity()

def pinocchio.robot_wrapper.RobotWrapper.velocity	(		self,
			q,
			v,
			index,
			update_kinematics = True,
			reference_frame = pin.ReferenceFrame.LOCAL
	)

Definition at line 110 of file robot_wrapper.py.

viewer()

def pinocchio.robot_wrapper.RobotWrapper.viewer

(

self

)

Definition at line 262 of file robot_wrapper.py.

Member Data Documentation

collision_data

pinocchio.robot_wrapper.RobotWrapper.collision_data

Definition at line 250 of file robot_wrapper.py.

collision_model

pinocchio.robot_wrapper.RobotWrapper.collision_model

Definition at line 27 of file robot_wrapper.py.

data

pinocchio.robot_wrapper.RobotWrapper.data

Definition at line 249 of file robot_wrapper.py.

model

pinocchio.robot_wrapper.RobotWrapper.model

Definition at line 26 of file robot_wrapper.py.

q0

pinocchio.robot_wrapper.RobotWrapper.q0

Definition at line 33 of file robot_wrapper.py.

v0

pinocchio.robot_wrapper.RobotWrapper.v0

Definition at line 32 of file robot_wrapper.py.

visual_data

pinocchio.robot_wrapper.RobotWrapper.visual_data

Definition at line 30 of file robot_wrapper.py.

visual_model

pinocchio.robot_wrapper.RobotWrapper.visual_model

Definition at line 28 of file robot_wrapper.py.

viz

pinocchio.robot_wrapper.RobotWrapper.viz

Definition at line 35 of file robot_wrapper.py.

---

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

• robot_wrapper.py