Functions | |
def | squashing (model, data, q_in) |
Variables | |
list | constraint_datas = [cm.createData() for cm in constraint_models] |
constraint_dim = sum([cm.size() for cm in constraint_models]) | |
list | constraint_models = [] |
contact_model_lf1 | |
data = robot.data | |
int | eps = 1e-10 |
list | foot_frame_ids = [robot.model.getFrameId(frame_name) for frame_name in foot_frames] |
list | foot_frames = [lfFoot, rfFoot, lhFoot, rhFoot] |
list | foot_joint_ids |
gui = robot.viewer.gui | |
kkt_constraint = pinocchio.ContactCholeskyDecomposition(model, constraint_models) | |
lfFoot | |
lhFoot | |
mass = data.mass[0] | |
model = robot.model | |
float | mu = 0.0 |
int | N = 100000 |
q = robot.q0.copy() | |
q0 | |
def | q_new = squashing(model, data, robot.q0) |
q_sol = q.copy() | |
rfFoot | |
rhFoot | |
robot = load("anymal") | |
string | state_name = "standing" |
window_id = robot.viewer.gui.getWindowID("python-pinocchio") | |
def anymal-simulation.squashing | ( | model, | |
data, | |||
q_in | |||
) |
Definition at line 80 of file anymal-simulation.py.
list anymal-simulation.constraint_datas = [cm.createData() for cm in constraint_models] |
Definition at line 61 of file anymal-simulation.py.
anymal-simulation.constraint_dim = sum([cm.size() for cm in constraint_models]) |
Definition at line 67 of file anymal-simulation.py.
list anymal-simulation.constraint_models = [] |
Definition at line 32 of file anymal-simulation.py.
anymal-simulation.contact_model_lf1 |
Definition at line 35 of file anymal-simulation.py.
anymal-simulation.data = robot.data |
Definition at line 13 of file anymal-simulation.py.
int anymal-simulation.eps = 1e-10 |
Definition at line 69 of file anymal-simulation.py.
list anymal-simulation.foot_frame_ids = [robot.model.getFrameId(frame_name) for frame_name in foot_frames] |
Definition at line 24 of file anymal-simulation.py.
Definition at line 23 of file anymal-simulation.py.
list anymal-simulation.foot_joint_ids |
Definition at line 25 of file anymal-simulation.py.
anymal-simulation.gui = robot.viewer.gui |
Definition at line 47 of file anymal-simulation.py.
anymal-simulation.kkt_constraint = pinocchio.ContactCholeskyDecomposition(model, constraint_models) |
Definition at line 66 of file anymal-simulation.py.
anymal-simulation.lfFoot |
Definition at line 21 of file anymal-simulation.py.
anymal-simulation.lhFoot |
Definition at line 21 of file anymal-simulation.py.
anymal-simulation.mass = data.mass[0] |
Definition at line 77 of file anymal-simulation.py.
anymal-simulation.model = robot.model |
Definition at line 12 of file anymal-simulation.py.
float anymal-simulation.mu = 0.0 |
Definition at line 70 of file anymal-simulation.py.
int anymal-simulation.N = 100000 |
Definition at line 68 of file anymal-simulation.py.
anymal-simulation.q = robot.q0.copy() |
Definition at line 63 of file anymal-simulation.py.
anymal-simulation.q0 |
Definition at line 17 of file anymal-simulation.py.
Definition at line 137 of file anymal-simulation.py.
anymal-simulation.q_sol = q.copy() |
Definition at line 72 of file anymal-simulation.py.
anymal-simulation.rfFoot |
Definition at line 21 of file anymal-simulation.py.
anymal-simulation.rhFoot |
Definition at line 21 of file anymal-simulation.py.
anymal-simulation.robot = load("anymal") |
Definition at line 11 of file anymal-simulation.py.
string anymal-simulation.state_name = "standing" |
Definition at line 15 of file anymal-simulation.py.
anymal-simulation.window_id = robot.viewer.gui.getWindowID("python-pinocchio") |
Definition at line 49 of file anymal-simulation.py.