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 53 of file build-reduced-model.py.

geom_models

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

Definition at line 46 of file build-reduced-model.py.

geometric_models_reduced

build-reduced-model.geometric_models_reduced

Definition at line 47 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 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 49 of file build-reduced-model.py.

list_of_joints_to_lock

build-reduced-model.list_of_joints_to_lock

Definition at line 50 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 65 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 39 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:

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

Definition at line 67 of file build-reduced-model.py.

reference_configuration

build-reduced-model.reference_configuration

Definition at line 51 of file build-reduced-model.py.

robot

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

Definition at line 66 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 42 of file build-reduced-model.py.