pinocchio: talos-simulation.py File Reference

Functions
def	talos-simulation.squashing (model, data, q_in)

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

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

list	talos-simulation.constraint_models = []

	talos-simulation.contact_model_lf1

	talos-simulation.data = robot.data

int	talos-simulation.eps = 1e-10

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

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

list	talos-simulation.foot_joint_ids

	talos-simulation.gui = robot.viewer.gui

	talos-simulation.joint2_placement

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

	talos-simulation.lfFoot

	talos-simulation.lhFoot

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

	talos-simulation.model = robot.model

int	talos-simulation.mu = 1e-8

int	talos-simulation.N = 100000

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

	talos-simulation.q0

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

	talos-simulation.q_sol = q.copy()

	talos-simulation.rfFoot

	talos-simulation.rhFoot

	talos-simulation.robot = loadTalos()

string	talos-simulation.state_name = "half_sitting"

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

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