anymal-simulation Namespace Reference

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
	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"

Function Documentation

squashing()

def anymal-simulation.squashing	(		model,
			data,
			q_in
	)

Definition at line 65 of file anymal-simulation.py.

Variable Documentation

constraint_datas

list anymal-simulation.constraint_datas = [cm.createData() for cm in constraint_models]

Definition at line 46 of file anymal-simulation.py.

constraint_dim

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

Definition at line 52 of file anymal-simulation.py.

constraint_models

list anymal-simulation.constraint_models = []

Definition at line 28 of file anymal-simulation.py.

contact_model_lf1

anymal-simulation.contact_model_lf1

Initial value:

=  pinocchio.RigidConstraintModel(
        pinocchio.ContactType.CONTACT_3D,
        robot.model,
        foot_joint_ids[j],
        robot.model.frames[frame_id].placement,
        0,
        data.oMf[frame_id],
    )

Definition at line 31 of file anymal-simulation.py.

data

anymal-simulation.data = robot.data

Definition at line 9 of file anymal-simulation.py.

eps

int anymal-simulation.eps = 1e-10

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

foot_frame_ids

list anymal-simulation.foot_frame_ids = [robot.model.getFrameId(frame_name) for frame_name in foot_frames]

Definition at line 20 of file anymal-simulation.py.

foot_frames

list anymal-simulation.foot_frames = [lfFoot, rfFoot, lhFoot, rhFoot]

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

foot_joint_ids

list anymal-simulation.foot_joint_ids

Initial value:

=  [
    robot.model.frames[robot.model.getFrameId(frame_name)].parent
    for frame_name in foot_frames
]

Definition at line 21 of file anymal-simulation.py.

kkt_constraint

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

Definition at line 51 of file anymal-simulation.py.

lfFoot

anymal-simulation.lfFoot

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

lhFoot

anymal-simulation.lhFoot

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

mass

anymal-simulation.mass = data.mass[0]

Definition at line 62 of file anymal-simulation.py.

model

anymal-simulation.model = robot.model

Definition at line 8 of file anymal-simulation.py.

mu

float anymal-simulation.mu = 0.0

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

N

int anymal-simulation.N = 100000

Definition at line 53 of file anymal-simulation.py.

q

anymal-simulation.q = robot.q0.copy()

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

q0

anymal-simulation.q0

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

q_new

def anymal-simulation.q_new = squashing(model, data, robot.q0)

Definition at line 131 of file anymal-simulation.py.

q_sol

anymal-simulation.q_sol = q.copy()

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

rfFoot

anymal-simulation.rfFoot

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

rhFoot

anymal-simulation.rhFoot

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

robot

anymal-simulation.robot = load("anymal")

Definition at line 7 of file anymal-simulation.py.

state_name

string anymal-simulation.state_name = "standing"

Definition at line 11 of file anymal-simulation.py.