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

Variables

 body_inertia = pin.Inertia.FromSphere(body_mass, body_radius)
 
int body_mass = 1.
 
 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, shape1, body_placement)
 
string geom2_name = "bar"
 
 geom2_obj = pin.GeometryObject(geom2_name, joint_id, shape2, shape2_placement)
 
 geom_model = pin.GeometryModel()
 
 joint_id = model2.addJoint(parent_id, pin.JointModelSpherical(), joint_placement, joint_name)
 
string joint_name = "joint_spherical"
 
 joint_placement = pin.SE3.Identity()
 
 mesh_dir = pinocchio_model_dir
 
 meshColor
 
 model
 
 model1
 
 model2 = pin.Model()
 
 model_path = join(pinocchio_model_dir, "example-robot-data/robots")
 
 name
 
 open
 
 package_dirs
 
int parent_id = 0
 
 pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models/")
 
 q = pin.randomConfiguration(model)
 
 shape1 = fcl.Sphere(body_radius)
 
 shape2 = fcl.Cylinder(body_radius/4., body_placement.translation[2])
 
 shape2_placement = body_placement.copy()
 
string urdf_filename = "ur5_robot.urdf"
 
 urdf_model_path = join(join(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 35 of file append-urdf-model-with-another-model.py.

◆ body_mass

int append-urdf-model-with-another-model.body_mass = 1.

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 36 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 19 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 58 of file append-urdf-model-with-another-model.py.

◆ geom1_name

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

Definition at line 40 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, shape1, body_placement)

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

◆ geom2_name

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

Definition at line 46 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, shape2_placement)

Definition at line 51 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 = 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

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

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

◆ meshColor

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

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

◆ model

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

Definition at line 59 of file append-urdf-model-with-another-model.py.

◆ model1

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

Definition at line 19 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

append-urdf-model-with-another-model.model_path = join(pinocchio_model_dir, "example-robot-data/robots")

Definition at line 14 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 66 of file append-urdf-model-with-another-model.py.

◆ package_dirs

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

Definition at line 20 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

append-urdf-model-with-another-model.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models/")

Definition at line 12 of file append-urdf-model-with-another-model.py.

◆ q

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

Definition at line 79 of file append-urdf-model-with-another-model.py.

◆ shape1

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

Definition at line 41 of file append-urdf-model-with-another-model.py.

◆ shape2

append-urdf-model-with-another-model.shape2 = fcl.Cylinder(body_radius/4., body_placement.translation[2])

Definition at line 47 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 48 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 16 of file append-urdf-model-with-another-model.py.

◆ urdf_model_path

append-urdf-model-with-another-model.urdf_model_path = join(join(model_path, "ur_description/urdf/"), urdf_filename)

Definition at line 17 of file append-urdf-model-with-another-model.py.

◆ visual_model

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

Definition at line 59 of file append-urdf-model-with-another-model.py.

◆ visual_model1

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

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

◆ visual_model2

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

Definition at line 55 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 63 of file append-urdf-model-with-another-model.py.



pinocchio
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autogenerated on Fri Jun 23 2023 02:38:34