Inheritance diagram for mobilerobot.MobileRobotWrapper:
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 | 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 | frameClassicalAcceleration (self, q, v, a, index, update_kinematics=True, reference_frame=pin.ReferenceFrame.LOCAL) |
| 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 | initFromMJCF (self, filename, *args, **kwargs) |
| def | initFromSDF (self, filename, *args, **kwargs) |
| def | initFromURDF (self, filename, *args, **kwargs) |
| def | initViewer (self, share_data=True, *args, **kwargs) |
| def | Jcom (self, q) |
| 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 | |
| constraint_models | |
| data | |
| model | |
| q0 | |
| v0 | |
| visual_data | |
| visual_model | |
| viz | |
Additional Inherited Members | |
| Static Public Member Functions inherited from pinocchio.robot_wrapper.RobotWrapper | |
| def | BuildFromMJCF (filename, *args, **kwargs) |
| def | BuildFromSDF (filename, *args, **kwargs) |
| def | BuildFromURDF (filename, *args, **kwargs) |
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 7 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 | |||
| ) |
Display the robot at configuration q in the viewer by placing all the bodies.
Reimplemented from pinocchio.robot_wrapper.RobotWrapper.
Definition at line 77 of file mobilerobot.py.
◆ initDisplay()
| def mobilerobot.MobileRobotWrapper.initDisplay | ( | self, | |
| loadModel | |||
| ) |
Definition at line 41 of file mobilerobot.py.
Member Data Documentation
◆ data
| mobilerobot.MobileRobotWrapper.data |
Definition at line 39 of file mobilerobot.py.
The documentation for this class was generated from the following file: