Variables
build-reduced-model Namespace Reference

Variables

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

Variable Documentation

◆ collision_model

build-reduced-model.collision_model

Definition at line 15 of file build-reduced-model.py.

◆ collision_model_reduced

build-reduced-model.collision_model_reduced

Definition at line 63 of file build-reduced-model.py.

◆ geom_models

list build-reduced-model.geom_models = [visual_model, collision_model]

Definition at line 55 of file build-reduced-model.py.

◆ geometric_models_reduced

build-reduced-model.geometric_models_reduced

Definition at line 56 of file build-reduced-model.py.

◆ initialJointConfig

build-reduced-model.initialJointConfig
Initial value:
1 = np.array(
2  [
3  0,
4  0,
5  0, # shoulder and elbow
6  1,
7  1,
8  1,
9  ]
10 )

Definition at line 35 of file build-reduced-model.py.

◆ jointsToLock

list build-reduced-model.jointsToLock = ["wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]

Definition at line 24 of file build-reduced-model.py.

◆ jointsToLockIDs

list build-reduced-model.jointsToLockIDs = []

Definition at line 27 of file build-reduced-model.py.

◆ list_of_geom_models

build-reduced-model.list_of_geom_models

Definition at line 58 of file build-reduced-model.py.

◆ list_of_joints_to_lock

build-reduced-model.list_of_joints_to_lock

Definition at line 59 of file build-reduced-model.py.

◆ mesh_dir

build-reduced-model.mesh_dir = pinocchio_model_dir

Definition at line 12 of file build-reduced-model.py.

◆ mixed_jointsToLockIDs

list build-reduced-model.mixed_jointsToLockIDs = [jointsToLockIDs[0], "wrist_2_joint", "wrist_3_joint"]

Definition at line 77 of file build-reduced-model.py.

◆ model

build-reduced-model.model

Definition at line 15 of file build-reduced-model.py.

◆ model_path

string build-reduced-model.model_path = pinocchio_model_dir + "/example-robot-data/robots"

Definition at line 11 of file build-reduced-model.py.

◆ model_reduced

build-reduced-model.model_reduced = pin.buildReducedModel(model, jointsToLockIDs, initialJointConfig)

Definition at line 47 of file build-reduced-model.py.

◆ pinocchio_model_dir

build-reduced-model.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")

Definition at line 10 of file build-reduced-model.py.

◆ reduced_robot

build-reduced-model.reduced_robot
Initial value:
1 = robot.buildReducedRobot(
2  list_of_joints_to_lock=mixed_jointsToLockIDs,
3  reference_configuration=initialJointConfig,
4 )

Definition at line 79 of file build-reduced-model.py.

◆ reference_configuration

build-reduced-model.reference_configuration

Definition at line 60 of file build-reduced-model.py.

◆ robot

build-reduced-model.robot = pin.RobotWrapper.BuildFromURDF(urdf_filename, mesh_dir)

Definition at line 78 of file build-reduced-model.py.

◆ urdf_filename

string build-reduced-model.urdf_filename = model_path + "/ur_description/urdf/ur5_robot.urdf"

Definition at line 14 of file build-reduced-model.py.

◆ visual_model

build-reduced-model.visual_model

Definition at line 15 of file build-reduced-model.py.

◆ visual_model_reduced

build-reduced-model.visual_model_reduced

Definition at line 50 of file build-reduced-model.py.



pinocchio
Author(s):
autogenerated on Sun Jun 16 2024 02:43:14