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	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)

Static Public Member Functions
def	BuildFromMJCF (filename, args, *kwargs)

def	BuildFromSDF (filename, args, *kwargs)

def	BuildFromURDF (filename, args, *kwargs)

Public Attributes
	collision_data

	collision_model

	constraint_models

	data

	model

	q0

	v0

	visual_data

	visual_model

	viz

Detailed Description

Definition at line 15 of file bindings/python/pinocchio/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 74 of file bindings/python/pinocchio/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 180 of file bindings/python/pinocchio/robot_wrapper.py.

◆ acom()

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

Definition at line 114 of file bindings/python/pinocchio/robot_wrapper.py.

◆ BuildFromMJCF()

def pinocchio.robot_wrapper.RobotWrapper.BuildFromMJCF	(		filename,
		*	args,
		**	kwargs
	)

static

Definition at line 56 of file bindings/python/pinocchio/robot_wrapper.py.

◆ BuildFromSDF()

def pinocchio.robot_wrapper.RobotWrapper.BuildFromSDF	(		filename,
		*	args,
		**	kwargs
	)

static

Definition at line 37 of file bindings/python/pinocchio/robot_wrapper.py.

◆ BuildFromURDF()

def pinocchio.robot_wrapper.RobotWrapper.BuildFromURDF	(		filename,
		*	args,
		**	kwargs
	)

static

Definition at line 17 of file bindings/python/pinocchio/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 280 of file bindings/python/pinocchio/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 128 of file bindings/python/pinocchio/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 121 of file bindings/python/pinocchio/robot_wrapper.py.

◆ centroidalMomentum()

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

Definition at line 118 of file bindings/python/pinocchio/robot_wrapper.py.

◆ centroidalMomentumVariation()

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

Definition at line 137 of file bindings/python/pinocchio/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 193 of file bindings/python/pinocchio/robot_wrapper.py.

◆ com()

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

Definition at line 98 of file bindings/python/pinocchio/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 321 of file bindings/python/pinocchio/robot_wrapper.py.

◆ computeJointJacobian()

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

Definition at line 253 of file bindings/python/pinocchio/robot_wrapper.py.

◆ computeJointJacobians()

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

Definition at line 259 of file bindings/python/pinocchio/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.

Reimplemented in mobilerobot.MobileRobotWrapper.

Definition at line 408 of file bindings/python/pinocchio/robot_wrapper.py.

◆ displayCollisions()

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

Set whether to diplay collision objects or not

Definition at line 414 of file bindings/python/pinocchio/robot_wrapper.py.

◆ displayVisuals()

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

Set whether to diplay visual objects or not

Definition at line 418 of file bindings/python/pinocchio/robot_wrapper.py.

◆ forwardKinematics()

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

Definition at line 154 of file bindings/python/pinocchio/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 225 of file bindings/python/pinocchio/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 238 of file bindings/python/pinocchio/robot_wrapper.py.

◆ framePlacement()

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

Definition at line 208 of file bindings/python/pinocchio/robot_wrapper.py.

◆ framesForwardKinematics()

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

Definition at line 277 of file bindings/python/pinocchio/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 213 of file bindings/python/pinocchio/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 314 of file bindings/python/pinocchio/robot_wrapper.py.

◆ getJointJacobian()

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

Definition at line 256 of file bindings/python/pinocchio/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 374 of file bindings/python/pinocchio/robot_wrapper.py.

◆ gravity()

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

Definition at line 151 of file bindings/python/pinocchio/robot_wrapper.py.

◆ index()

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

Definition at line 352 of file bindings/python/pinocchio/robot_wrapper.py.

◆ initFromMJCF()

def pinocchio.robot_wrapper.RobotWrapper.initFromMJCF	(		self,
			filename,
		*	args,
		**	kwargs
	)

Definition at line 62 of file bindings/python/pinocchio/robot_wrapper.py.

◆ initFromSDF()

def pinocchio.robot_wrapper.RobotWrapper.initFromSDF	(		self,
			filename,
		*	args,
		**	kwargs
	)

Definition at line 42 of file bindings/python/pinocchio/robot_wrapper.py.

◆ initFromURDF()

def pinocchio.robot_wrapper.RobotWrapper.initFromURDF	(		self,
			filename,
		*	args,
		**	kwargs
	)

Definition at line 24 of file bindings/python/pinocchio/robot_wrapper.py.

◆ initViewer()

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

Init the viewer

Definition at line 381 of file bindings/python/pinocchio/robot_wrapper.py.

◆ Jcom()

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

Definition at line 142 of file bindings/python/pinocchio/robot_wrapper.py.

◆ loadViewerModel()

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

Create the scene displaying the robot meshes in MeshCat

Definition at line 404 of file bindings/python/pinocchio/robot_wrapper.py.

◆ mass()

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

Definition at line 145 of file bindings/python/pinocchio/robot_wrapper.py.

◆ nle()

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

Definition at line 148 of file bindings/python/pinocchio/robot_wrapper.py.

◆ nq()

def pinocchio.robot_wrapper.RobotWrapper.nq ( self )

Definition at line 91 of file bindings/python/pinocchio/robot_wrapper.py.

◆ nv()

def pinocchio.robot_wrapper.RobotWrapper.nv ( self )

Definition at line 95 of file bindings/python/pinocchio/robot_wrapper.py.

◆ placement()

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

Definition at line 163 of file bindings/python/pinocchio/robot_wrapper.py.

◆ play()

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

Play a trajectory with given time step

Definition at line 422 of file bindings/python/pinocchio/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 329 of file bindings/python/pinocchio/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 362 of file bindings/python/pinocchio/robot_wrapper.py.