|
| | append-urdf-model-with-another-model.body_inertia = pin.Inertia.FromSphere(body_mass, body_radius) |
| |
| float | append-urdf-model-with-another-model.body_mass = 1.0 |
| |
| | append-urdf-model-with-another-model.body_placement = joint_placement.copy() |
| |
| int | append-urdf-model-with-another-model.body_radius = 1e-2 |
| |
| | append-urdf-model-with-another-model.collision_model1 |
| |
| | append-urdf-model-with-another-model.frame_id_end_effector = model1.getFrameId("tool0") |
| |
| string | append-urdf-model-with-another-model.geom1_name = "ball" |
| |
| | append-urdf-model-with-another-model.geom1_obj = pin.GeometryObject(geom1_name, joint_id, body_placement, shape1) |
| |
| string | append-urdf-model-with-another-model.geom2_name = "bar" |
| |
| | append-urdf-model-with-another-model.geom2_obj = pin.GeometryObject(geom2_name, joint_id, shape2_placement, shape2) |
| |
| | append-urdf-model-with-another-model.geom_model = pin.GeometryModel() |
| |
| | append-urdf-model-with-another-model.joint_id |
| |
| string | append-urdf-model-with-another-model.joint_name = "joint_spherical" |
| |
| | append-urdf-model-with-another-model.joint_placement = pin.SE3.Identity() |
| |
| string | append-urdf-model-with-another-model.mesh_dir = pinocchio_model_dir |
| |
| | append-urdf-model-with-another-model.meshColor |
| |
| | append-urdf-model-with-another-model.model |
| |
| | append-urdf-model-with-another-model.model1 |
| |
| | append-urdf-model-with-another-model.model2 = pin.Model() |
| |
| string | append-urdf-model-with-another-model.model_path = pinocchio_model_dir / "example-robot-data/robots" |
| |
| | append-urdf-model-with-another-model.name |
| |
| | append-urdf-model-with-another-model.open |
| |
| | append-urdf-model-with-another-model.package_dirs |
| |
| int | append-urdf-model-with-another-model.parent_id = 0 |
| |
| string | append-urdf-model-with-another-model.pinocchio_model_dir = Path(__file__).parent.parent / "models" |
| |
| | append-urdf-model-with-another-model.q = pin.randomConfiguration(model) |
| |
| | append-urdf-model-with-another-model.shape1 = fcl.Sphere(body_radius) |
| |
| | append-urdf-model-with-another-model.shape2 = fcl.Cylinder(body_radius / 4.0, body_placement.translation[2]) |
| |
| | append-urdf-model-with-another-model.shape2_placement = body_placement.copy() |
| |
| string | append-urdf-model-with-another-model.urdf_filename = "ur5_robot.urdf" |
| |
| string | append-urdf-model-with-another-model.urdf_model_path = model_path / "ur_description/urdf" / urdf_filename |
| |
| | append-urdf-model-with-another-model.visual_model |
| |
| | append-urdf-model-with-another-model.visual_model1 |
| |
| | append-urdf-model-with-another-model.visual_model2 = geom_model |
| |
| | append-urdf-model-with-another-model.viz = Visualizer(model, visual_model, visual_model) |
| |