pinocchio.shortcuts Namespace Reference

Functions
def	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

buildModelsFromUrdf()

def 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 12 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 56 of file shortcuts.py.

Variable Documentation

nle

pinocchio.shortcuts.nle = pin.nonLinearEffects

Definition at line 10 of file shortcuts.py.