Go to the source code of this file.
Namespaces | |
| contact-cholesky | |
Variables | |
| contact-cholesky.cmodel | |
| list | contact-cholesky.contact_data = [cmodel.createData() for cmodel in contact_models] |
| list | contact-cholesky.contact_models = [] |
| contact-cholesky.data = model.createData() | |
| contact-cholesky.delassus_matrix = data.contact_chol.getInverseOperationalSpaceInertiaMatrix() | |
| contact-cholesky.delassus_matrix_inv = data.contact_chol.getOperationalSpaceInertiaMatrix() | |
| list | contact-cholesky.feet_frame_ids = [] |
| list | contact-cholesky.feet_names = ["LH_FOOT", "RH_FOOT", "LF_FOOT", "RF_FOOT"] |
| contact-cholesky.frame = model.frames[fid] | |
| contact-cholesky.frame_id = model.getFrameId(foot_name) | |
| contact-cholesky.model = pin.buildModelFromUrdf(urdf_filename) | |
| contact-cholesky.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models") | |
| contact-cholesky.q0 = pin.neutral(model) | |
| tuple | contact-cholesky.urdf_filename |