Variables
	cp = geom_model.collisionPairs[k]

	cr = geom_data.collisionResults[k]

	data = model.createData()

	geom_data = pin.GeometryData(geom_model)

	geom_model

string	mesh_dir = pinocchio_model_dir

	model = pin.buildModelFromUrdf(urdf_model_path, pin.JointModelFreeFlyer())

string	model_path = pinocchio_model_dir / "example-robot-data/robots"

string	pinocchio_model_dir = Path(__file__).parent.parent / "models"

	q = model.referenceConfigurations["half_sitting"]

string	srdf_filename = "romeo.srdf"

string	srdf_model_path = model_path / "romeo_description/srdf" / srdf_filename

string	urdf_filename = "romeo_small.urdf"

string	urdf_model_path = model_path / "romeo_description/urdf" / urdf_filename

Variable Documentation

◆ cp

collisions.cp = geom_model.collisionPairs[k]

Definition at line 51 of file collisions.py.

◆ cr

collisions.cr = geom_data.collisionResults[k]

Definition at line 50 of file collisions.py.

◆ data

collisions.data = model.createData()

Definition at line 41 of file collisions.py.

◆ geom_data

collisions.geom_data = pin.GeometryData(geom_model)

Definition at line 42 of file collisions.py.

◆ geom_model

collisions.geom_model

Initial value:

 =  pin.buildGeomFromUrdf(
     model, urdf_model_path, pin.GeometryType.COLLISION, mesh_dir
 )

Definition at line 16 of file collisions.py.

◆ mesh_dir

string collisions.mesh_dir = pinocchio_model_dir

Definition at line 8 of file collisions.py.

◆ model

collisions.model = pin.buildModelFromUrdf(urdf_model_path, pin.JointModelFreeFlyer())

Definition at line 13 of file collisions.py.

◆ model_path

string collisions.model_path = pinocchio_model_dir / "example-robot-data/robots"

Definition at line 7 of file collisions.py.

◆ pinocchio_model_dir

string collisions.pinocchio_model_dir = Path(__file__).parent.parent / "models"

Definition at line 5 of file collisions.py.

◆ q

collisions.q = model.referenceConfigurations["half_sitting"]

Definition at line 38 of file collisions.py.

◆ srdf_filename

string collisions.srdf_filename = "romeo.srdf"

Definition at line 25 of file collisions.py.

◆ srdf_model_path

string collisions.srdf_model_path = model_path / "romeo_description/srdf" / srdf_filename

Definition at line 26 of file collisions.py.

◆ urdf_filename

string collisions.urdf_filename = "romeo_small.urdf"

Definition at line 9 of file collisions.py.

◆ urdf_model_path

string collisions.urdf_model_path = model_path / "romeo_description/urdf" / urdf_filename

Definition at line 10 of file collisions.py.

Variables