Variables | |
cmodel | |
list | contact_data = [cmodel.createData() for cmodel in contact_models] |
list | contact_models = [] |
data = model.createData() | |
delassus_matrix = data.contact_chol.getInverseOperationalSpaceInertiaMatrix() | |
delassus_matrix_inv = data.contact_chol.getOperationalSpaceInertiaMatrix() | |
list | feet_frame_ids = [] |
list | feet_names = ["LH_FOOT", "RH_FOOT", "LF_FOOT", "RF_FOOT"] |
frame = model.frames[fid] | |
frame_id = model.getFrameId(foot_name) | |
model = pin.buildModelFromUrdf(urdf_filename) | |
pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models") | |
q0 = pin.neutral(model) | |
tuple | urdf_filename |
contact-cholesky.cmodel |
Definition at line 28 of file contact-cholesky.py.
list contact-cholesky.contact_data = [cmodel.createData() for cmodel in contact_models] |
Definition at line 36 of file contact-cholesky.py.
list contact-cholesky.contact_models = [] |
Definition at line 25 of file contact-cholesky.py.
contact-cholesky.data = model.createData() |
Definition at line 14 of file contact-cholesky.py.
contact-cholesky.delassus_matrix = data.contact_chol.getInverseOperationalSpaceInertiaMatrix() |
Definition at line 43 of file contact-cholesky.py.
contact-cholesky.delassus_matrix_inv = data.contact_chol.getOperationalSpaceInertiaMatrix() |
Definition at line 44 of file contact-cholesky.py.
list contact-cholesky.feet_frame_ids = [] |
Definition at line 20 of file contact-cholesky.py.
list contact-cholesky.feet_names = ["LH_FOOT", "RH_FOOT", "LF_FOOT", "RF_FOOT"] |
Definition at line 19 of file contact-cholesky.py.
contact-cholesky.frame = model.frames[fid] |
Definition at line 27 of file contact-cholesky.py.
contact-cholesky.frame_id = model.getFrameId(foot_name) |
Definition at line 22 of file contact-cholesky.py.
contact-cholesky.model = pin.buildModelFromUrdf(urdf_filename) |
Definition at line 13 of file contact-cholesky.py.
contact-cholesky.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models") |
Definition at line 8 of file contact-cholesky.py.
contact-cholesky.q0 = pin.neutral(model) |
Definition at line 16 of file contact-cholesky.py.
tuple contact-cholesky.urdf_filename |
Definition at line 9 of file contact-cholesky.py.