build-reduced-model.py File Reference

Go to the source code of this file.

Namespaces
	build-reduced-model

Variables
	build-reduced-model.collision_model
	build-reduced-model.collision_model_reduced
list	build-reduced-model.geom_models = [visual_model, collision_model]
	build-reduced-model.geometric_models_reduced
	build-reduced-model.initialJointConfig
list	build-reduced-model.jointsToLock = ["wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]
list	build-reduced-model.jointsToLockIDs = []
	build-reduced-model.list_of_geom_models
	build-reduced-model.list_of_joints_to_lock
string	build-reduced-model.mesh_dir = pinocchio_model_dir
list	build-reduced-model.mixed_jointsToLockIDs = [jointsToLockIDs[0], "wrist_2_joint", "wrist_3_joint"]
	build-reduced-model.model
string	build-reduced-model.model_path = pinocchio_model_dir / "example-robot-data/robots"
	build-reduced-model.model_reduced = pin.buildReducedModel(model, jointsToLockIDs, initialJointConfig)
string	build-reduced-model.pinocchio_model_dir = Path(__file__).parent.parent / "models"
	build-reduced-model.reduced_robot
	build-reduced-model.reference_configuration
	build-reduced-model.robot = pin.RobotWrapper.BuildFromURDF(urdf_filename, mesh_dir)
string	build-reduced-model.urdf_filename = model_path / "ur_description/urdf/ur5_robot.urdf"
	build-reduced-model.visual_model
	build-reduced-model.visual_model_reduced