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
string	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)
string	pinocchio_model_dir = Path(__file__).parent.parent / "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 16 of file build-reduced-model.py.

collision_model_reduced

build-reduced-model.collision_model_reduced

Definition at line 66 of file build-reduced-model.py.

geom_models

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

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

geometric_models_reduced

build-reduced-model.geometric_models_reduced

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

initialJointConfig

build-reduced-model.initialJointConfig

Initial value:

=  np.array(
    [
        0,
        0,
        0,  # shoulder and elbow
        1,
        1,
        1,
    ]
)

Definition at line 36 of file build-reduced-model.py.

jointsToLock

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

Definition at line 25 of file build-reduced-model.py.

jointsToLockIDs

list build-reduced-model.jointsToLockIDs = []

Definition at line 28 of file build-reduced-model.py.

list_of_geom_models

build-reduced-model.list_of_geom_models

Definition at line 61 of file build-reduced-model.py.

list_of_joints_to_lock

build-reduced-model.list_of_joints_to_lock

Definition at line 62 of file build-reduced-model.py.

mesh_dir

string build-reduced-model.mesh_dir = pinocchio_model_dir

Definition at line 13 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 80 of file build-reduced-model.py.

model

build-reduced-model.model

Definition at line 16 of file build-reduced-model.py.

model_path

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

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

model_reduced

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

Definition at line 48 of file build-reduced-model.py.

pinocchio_model_dir

string build-reduced-model.pinocchio_model_dir = Path(__file__).parent.parent / "models"

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

reduced_robot

build-reduced-model.reduced_robot

Initial value:

=  robot.buildReducedRobot(
    list_of_joints_to_lock=mixed_jointsToLockIDs,
    reference_configuration=initialJointConfig,
)

Definition at line 82 of file build-reduced-model.py.

reference_configuration

build-reduced-model.reference_configuration

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

robot

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

Definition at line 81 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 15 of file build-reduced-model.py.

visual_model

build-reduced-model.visual_model

Definition at line 16 of file build-reduced-model.py.

visual_model_reduced

build-reduced-model.visual_model_reduced

Definition at line 52 of file build-reduced-model.py.