cassie-simulation Namespace Reference

Functions
def	check_joint (model, nj)
def	squashing (model, data, q_in, Nin=N, epsin=eps, verbose=True)
def	update_axis (q)

Variables
float	axis_size = 0.08
	back_placement = pinocchio.SE3(np.identity(3), np.array([0.03, -0.0, 0.0]))
	com_base = robot.data.com[0].copy()
	com_des = lambda k: com_base - np.array([0.0, 0.0, np.abs(com_drop_amp)])
float	com_drop_amp = 0.1
	constraint_datas = pinocchio.StdVec_RigidConstraintData()
	constraint_dim = sum([cm.size() for cm in constraint_models])
	constraint_models = robot.constraint_models
	contact_model_lf1
	contact_model_lf2
	data = pinocchio.Data(robot.model)
int	eps = 1e-6
	False
list	foot_joint_ids = [robot.model.getJointId(joint_name) for joint_name in foot_joints]
list	foot_joints = ["left-plantar-foot-joint", "right-plantar-foot-joint"]
	foot_length = np.linalg.norm(front_placement.translation - back_placement.translation)
	front_placement = pinocchio.SE3(np.identity(3), np.array([-0.1, 0.11, 0.0]))
	gui = robot.viewer.gui
	has_rotor_parameters
	joint2_placement = robot.data.oMi[joint_id] * front_placement
	kkt_constraint = pinocchio.ContactCholeskyDecomposition(robot.model, constraint_models)
	loadModel
	mass = robot.data.mass[0]
	mid_point = np.zeros(3)
string	mid_point_name = "hpp-gui/mid_point"
	mid_point_pos = pinocchio.SE3(np.identity(3), mid_point)
	model
string	model_dir = "/local/rbudhira/devel/install/sot/share/example-robot-data/robots/"
int	mu = 1e-4
int	N = 1000
string	name1 = "hpp-gui/cm1_" + str(j)
string	name2 = "hpp-gui/cm2_" + str(j)
string	package_dir = model_dir + "../../"
	pos1 = robot.data.oMi[cm.joint1_id] * cm.joint1_placement
	pos2 = robot.data.oMi[cm.joint2_id] * cm.joint2_placement
	q = q0.copy()
	q0 = robot.q0.copy()
	q_sol = q.copy()
	qin = robot.q0.copy()
def	qout = squashing(robot.model, data, qin)
float	radius = 0.005
float	red_color = 1.0 * float(j) / float(len(constraint_models))
	referencePose
	robot
string	sdf_filename = model_dir + "cassie_description/robots/cassie.sdf"
list	sdf_parent_guidance
string	srdf_path = model_dir + "cassie_description/srdf/cassie_v2.srdf"
float	transparency = 0.5
	window_id = robot.viewer.gui.getWindowID("python-pinocchio")

Function Documentation

check_joint()

def cassie-simulation.check_joint	(		model,
			nj
	)

Definition at line 122 of file cassie-simulation.py.

squashing()

def cassie-simulation.squashing	(		model,
			data,
			q_in,
			Nin = N,
			epsin = eps,
			verbose = True
	)

Definition at line 202 of file cassie-simulation.py.

update_axis()

def cassie-simulation.update_axis

(

q

)

Definition at line 110 of file cassie-simulation.py.

Variable Documentation

axis_size

float cassie-simulation.axis_size = 0.08

Definition at line 155 of file cassie-simulation.py.

back_placement

cassie-simulation.back_placement = pinocchio.SE3(np.identity(3), np.array([0.03, -0.0, 0.0]))

Definition at line 59 of file cassie-simulation.py.

com_base

cassie-simulation.com_base = robot.data.com[0].copy()

Definition at line 196 of file cassie-simulation.py.

com_des

cassie-simulation.com_des = lambda k: com_base - np.array([0.0, 0.0, np.abs(com_drop_amp)])

Definition at line 199 of file cassie-simulation.py.

com_drop_amp

float cassie-simulation.com_drop_amp = 0.1

Definition at line 198 of file cassie-simulation.py.

constraint_datas

cassie-simulation.constraint_datas = pinocchio.StdVec_RigidConstraintData()

Definition at line 105 of file cassie-simulation.py.

constraint_dim

cassie-simulation.constraint_dim = sum([cm.size() for cm in constraint_models])

Definition at line 139 of file cassie-simulation.py.

constraint_models

cassie-simulation.constraint_models = robot.constraint_models

Definition at line 48 of file cassie-simulation.py.

contact_model_lf1

cassie-simulation.contact_model_lf1

Initial value:

=  pinocchio.RigidConstraintModel(
        pinocchio.ContactType.CONTACT_3D,
        robot.model,
        joint_id,
        front_placement,
        0,
        joint2_placement,
        pinocchio.ReferenceFrame.LOCAL,
    )

Definition at line 71 of file cassie-simulation.py.

contact_model_lf2

cassie-simulation.contact_model_lf2

Initial value:

=  pinocchio.RigidConstraintModel(
        pinocchio.ContactType.CONTACT_3D,
        robot.model,
        joint_id,
        back_placement,
        0,
        joint2_placement,
        pinocchio.ReferenceFrame.LOCAL,
    )

Definition at line 84 of file cassie-simulation.py.

data

cassie-simulation.data = pinocchio.Data(robot.model)

Definition at line 50 of file cassie-simulation.py.

eps

int cassie-simulation.eps = 1e-6

Definition at line 141 of file cassie-simulation.py.

False

cassie-simulation.False

Definition at line 44 of file cassie-simulation.py.

foot_joint_ids

list cassie-simulation.foot_joint_ids = [robot.model.getJointId(joint_name) for joint_name in foot_joints]

Definition at line 55 of file cassie-simulation.py.

foot_joints

list cassie-simulation.foot_joints = ["left-plantar-foot-joint", "right-plantar-foot-joint"]

Definition at line 54 of file cassie-simulation.py.

foot_length

cassie-simulation.foot_length = np.linalg.norm(front_placement.translation - back_placement.translation)

Definition at line 61 of file cassie-simulation.py.

front_placement

cassie-simulation.front_placement = pinocchio.SE3(np.identity(3), np.array([-0.1, 0.11, 0.0]))

Definition at line 57 of file cassie-simulation.py.

gui

cassie-simulation.gui = robot.viewer.gui

Definition at line 101 of file cassie-simulation.py.

has_rotor_parameters

cassie-simulation.has_rotor_parameters

Definition at line 44 of file cassie-simulation.py.

joint2_placement

cassie-simulation.joint2_placement = robot.data.oMi[joint_id] * front_placement

Definition at line 69 of file cassie-simulation.py.

kkt_constraint

cassie-simulation.kkt_constraint = pinocchio.ContactCholeskyDecomposition(robot.model, constraint_models)

Definition at line 138 of file cassie-simulation.py.

loadModel

cassie-simulation.loadModel

Definition at line 100 of file cassie-simulation.py.

mass

cassie-simulation.mass = robot.data.mass[0]

Definition at line 194 of file cassie-simulation.py.

mid_point

cassie-simulation.mid_point = np.zeros(3)

Definition at line 66 of file cassie-simulation.py.

mid_point_name

string cassie-simulation.mid_point_name = "hpp-gui/mid_point"

Definition at line 180 of file cassie-simulation.py.

mid_point_pos

cassie-simulation.mid_point_pos = pinocchio.SE3(np.identity(3), mid_point)

Definition at line 181 of file cassie-simulation.py.

model

cassie-simulation.model

Definition at line 44 of file cassie-simulation.py.

model_dir

string cassie-simulation.model_dir = "/local/rbudhira/devel/install/sot/share/example-robot-data/robots/"

Definition at line 13 of file cassie-simulation.py.

mu

int cassie-simulation.mu = 1e-4

Definition at line 142 of file cassie-simulation.py.

N

int cassie-simulation.N = 1000

Definition at line 140 of file cassie-simulation.py.

name1

string cassie-simulation.name1 = "hpp-gui/cm1_" + str(j)

Definition at line 162 of file cassie-simulation.py.

name2

string cassie-simulation.name2 = "hpp-gui/cm2_" + str(j)

Definition at line 163 of file cassie-simulation.py.

package_dir

string cassie-simulation.package_dir = model_dir + "../../"

Definition at line 17 of file cassie-simulation.py.

pos1

cassie-simulation.pos1 = robot.data.oMi[cm.joint1_id] * cm.joint1_placement

Definition at line 160 of file cassie-simulation.py.

pos2

cassie-simulation.pos2 = robot.data.oMi[cm.joint2_id] * cm.joint2_placement

Definition at line 161 of file cassie-simulation.py.

q

cassie-simulation.q = q0.copy()

Definition at line 135 of file cassie-simulation.py.

q0

cassie-simulation.q0 = robot.q0.copy()

Definition at line 43 of file cassie-simulation.py.

q_sol

cassie-simulation.q_sol = q.copy()

Definition at line 144 of file cassie-simulation.py.

qin

def cassie-simulation.qin = robot.q0.copy()

Definition at line 283 of file cassie-simulation.py.

qout

def cassie-simulation.qout = squashing(robot.model, data, qin)

Definition at line 285 of file cassie-simulation.py.

radius

float cassie-simulation.radius = 0.005

Definition at line 156 of file cassie-simulation.py.

red_color

float cassie-simulation.red_color = 1.0 * float(j) / float(len(constraint_models))

Definition at line 164 of file cassie-simulation.py.

referencePose

cassie-simulation.referencePose

Definition at line 44 of file cassie-simulation.py.

robot

cassie-simulation.robot

Initial value:

=  pinocchio.RobotWrapper.BuildFromSDF(
    sdf_filename,
    package_dirs=[package_dir],
    root_joint=JointModelFreeFlyer(),
    root_link_name="pelvis",
    parent_guidance=sdf_parent_guidance,
)

Definition at line 35 of file cassie-simulation.py.

sdf_filename

string cassie-simulation.sdf_filename = model_dir + "cassie_description/robots/cassie.sdf"

Definition at line 15 of file cassie-simulation.py.

sdf_parent_guidance

list cassie-simulation.sdf_parent_guidance

Initial value:

=  [
    "left-roll-op",
    "left-yaw-op",
    "left-pitch-op",
    "left-knee-op",
    "left-tarsus-spring-joint",
    "left-foot-op",
    "right-roll-op",
    "right-yaw-op",
    "right-pitch-op",
    "right-knee-op",
    "right-tarsus-spring-joint",
    "right-foot-op",
]

Definition at line 19 of file cassie-simulation.py.

srdf_path

cassie-simulation.srdf_path = model_dir + "cassie_description/srdf/cassie_v2.srdf"

Definition at line 16 of file cassie-simulation.py.

transparency

float cassie-simulation.transparency = 0.5

Definition at line 157 of file cassie-simulation.py.

window_id

cassie-simulation.window_id = robot.viewer.gui.getWindowID("python-pinocchio")

Definition at line 146 of file cassie-simulation.py.