def __init__(self, filename, package_dirs=None, root_joint=None, verbose=False):
if root_joint is None:
self.model = se3.buildModelFromUrdf(filename)
else:
self.model = se3.buildModelFromUrdf(filename, root_joint)
self.data = self.model.createData()
self.model_filename = filename
if "buildGeomFromUrdf" not in dir(se3):
self.collision_model = None
self.visual_model = None
self.collision_data = None
self.visual_data = None
if verbose:
print 'Info: the Geometry Module has not been compiled with Pinocchio. No geometry model and data have been built.'
else:
if package_dirs is None:
self.collision_model = se3.buildGeomFromUrdf(self.model, filename)
self.visual_model = se3.buildGeomFromUrdf(self.model, filename)
else:
if not all(isinstance(item, basestring) for item in package_dirs):
raise Exception('The list of package directories is wrong. At least one is not a string')
else:
self.collision_model = se3.buildGeomFromUrdf(self.model, filename,
utils.fromListToVectorOfString(package_dirs), se3.GeometryType.COLLISION)
self.visual_model = se3.buildGeomFromUrdf(self.model, filename,
utils.fromListToVectorOfString(package_dirs), se3.GeometryType.VISUAL)
self.collision_data = se3.GeometryData(self.collision_model)
self.visual_data = se3.GeometryData(self.visual_model)
self.v0 = utils.zero(self.nv)
self.q0 = utils.zero(self.nq)
def __init__(self, filename, package_dirs=None, root_joint=None):
if root_joint is None:
self.model = se3.buildModelFromUrdf(filename)
else:
self.model = se3.buildModelFromUrdf(filename, root_joint)
self.data = self.model.createData()
if "buildGeomFromUrdf" not in dir(se3):
raise Exception(
'the Geometry Module has not been compiled with Pinocchio. No geometry model'
)
else:
if package_dirs is None:
self.geometry_model = se3.buildGeomFromUrdf(
self.model, filename)
self.geometry_data = se3.GeometryData(self.data,
self.geometry_model)
else:
if not all(
isinstance(item, basestring) for item in package_dirs):
raise Exception(
'The list of package directories is wrong. At least one is not a string'
)
else:
self.geometry_model = se3.buildGeomFromUrdf(
self.model, filename,
utils.fromListToVectorOfString(package_dirs))
self.geometry_data = se3.GeometryData(
self.data, self.geometry_model)
self.v0 = utils.zero(self.nv)
self.q0 = utils.zero(self.nq)
def __init__(self,filename, root_joint = None):
self.modelFileName = filename
if(root_joint is None):
self.model = se3.buildModelFromUrdf(filename)
else:
self.model = se3.buildModelFromUrdfWithRoot(filename, root_joint)
self.data = self.model.createData()
self.v0 = utils.zero(self.nv)
self.q0 = utils.zero(self.nq)
def __init__(self, filename, package_dirs=None, root_joint=None):
if root_joint is None:
self.model = se3.buildModelFromUrdf(filename)
else:
self.model = se3.buildModelFromUrdf(filename, root_joint)
self.data = self.model.createData()
if "buildGeomFromUrdf" not in dir(se3):
raise Exception('the Geometry Module has not been compiled with Pinocchio. No geometry model')
else:
if package_dirs is None:
self.geometry_model = se3.buildGeomFromUrdf(self.model, filename)
self.geometry_data = se3.GeometryData(self.data, self.geometry_model)
else:
if not all(isinstance(item, basestring) for item in package_dirs):
raise Exception('The list of package directories is wrong. At least one is not a string')
else:
self.geometry_model = se3.buildGeomFromUrdf(self.model, filename,
utils.fromListToVectorOfString(package_dirs))
self.geometry_data = se3.GeometryData(self.data, self.geometry_model)
self.v0 = utils.zero(self.nv)
self.q0 = utils.zero(self.nq)
def __init__(self,filename):
self.modelFileName = filename
self.model = se3.buildModelFromUrdf(filename,True)
self.data = self.model.createData()
self.v0 = utils.zero(self.nv)
self.q0 = utils.zero(self.nq)
def __init__(self,filename):
self.modelFileName = filename
self.model = se3.buildModelFromUrdf(filename,True)
self.data = self.model.createData()
self.v0 = utils.zero(self.nv)
self.q0 = utils.zero(self.nq)
