Variables
	a0 = np.zeros(model.nv)

	acc

	bl_id = model.getFrameId('base_link')

	collision_model

	data = model.createData()

list	feet_ids = [model.getFrameId(n) for n in feet_names]

list	feet_names = ['FL_FOOT', 'FR_FOOT', 'HL_FOOT', 'HR_FOOT']

	fext__bl = pin.Force(ls__bl[joint_ids.index(joint.id)])

list	fs_ext = [pin.Force(np.zeros(6)) for _ in range(len(model.joints))]

	g_bl = g_grav[:6]

	g_grav = pin.rnea(model, data, q0, v0, a0)

	g_j = g_grav[6:]

	Jc__feet_bl_T = np.zeros([6, 3 * ncontact])

	Jc__feet_j_T = np.zeros([12, 3 * ncontact])

list	joint_ids = [model.getJointId(n) for n in joint_names]

list	joint_names = ['FL_KFE', 'FR_KFE', 'HL_KFE', 'HR_KFE']

list	Js__feet_bl = [np.copy(J[:3, :6]) for J in Js__feet_q]

list	Js__feet_q

list	Js_feet3d_q = [np.copy(J[:3, :]) for J in Js__feet_q]

list	Js_feet_j = [np.copy(J[:3, 6:]) for J in Js__feet_q]

	l_sp__bl = data.oMf[bl_id].actInv(data.oMf[foot_id].act(l_sp__f))

	l_sp__f = pin.Force(l__f, np.zeros(3))

	linewidth

	ls = np.linalg.pinv(Jc__feet_bl_T) @ g_bl

list	ls__bl = []

	ls__f = np.split(ls, ncontact)

	mesh_dir = pinocchio_model_dir

	model

	model_path = join(pinocchio_model_dir, "example-robot-data/robots")

	ncontact = len(feet_names)

	pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")

	q0

	tau = g_j - Jc__feet_j_T @ ls

	tau_rnea = pin.rnea(model, data, q0, v0, a0, fs_ext)

string	urdf_filename = "solo12.urdf"

	urdf_model_path

	v0 = np.zeros(model.nv)

	visual_model

Variable Documentation

◆ a0

static-contact-dynamics.a0 = np.zeros(model.nv)

Definition at line 67 of file static-contact-dynamics.py.

◆ acc

static-contact-dynamics.acc

Initial value:

1 = pin.forwardDynamics(model, data, q0, v0, np.append(np.zeros(6), tau),

2 np.vstack(Js_feet3d_q), np.zeros(12))

Definition at line 159 of file static-contact-dynamics.py.

◆ bl_id

static-contact-dynamics.bl_id = model.getFrameId('base_link')

Definition at line 82 of file static-contact-dynamics.py.

◆ collision_model

static-contact-dynamics.collision_model

Definition at line 58 of file static-contact-dynamics.py.

◆ data

static-contact-dynamics.data = model.createData()

Definition at line 60 of file static-contact-dynamics.py.

◆ feet_ids

list static-contact-dynamics.feet_ids = [model.getFrameId(n) for n in feet_names]

Definition at line 81 of file static-contact-dynamics.py.

◆ feet_names

list static-contact-dynamics.feet_names = ['FL_FOOT', 'FR_FOOT', 'HL_FOOT', 'HR_FOOT']

Definition at line 80 of file static-contact-dynamics.py.

◆ fext__bl

static-contact-dynamics.fext__bl = pin.Force(ls__bl[joint_ids.index(joint.id)])

Definition at line 145 of file static-contact-dynamics.py.

◆ fs_ext

list static-contact-dynamics.fs_ext = [pin.Force(np.zeros(6)) for _ in range(len(model.joints))]

Definition at line 142 of file static-contact-dynamics.py.

◆ g_bl

static-contact-dynamics.g_bl = g_grav[:6]

Definition at line 74 of file static-contact-dynamics.py.

◆ g_grav

static-contact-dynamics.g_grav = pin.rnea(model, data, q0, v0, a0)

Definition at line 72 of file static-contact-dynamics.py.

◆ g_j

static-contact-dynamics.g_j = g_grav[6:]

Definition at line 75 of file static-contact-dynamics.py.

◆ Jc__feet_bl_T

static-contact-dynamics.Jc__feet_bl_T = np.zeros([6, 3 * ncontact])

Definition at line 95 of file static-contact-dynamics.py.

◆ Jc__feet_j_T

static-contact-dynamics.Jc__feet_j_T = np.zeros([12, 3 * ncontact])

Definition at line 127 of file static-contact-dynamics.py.

◆ joint_ids

list static-contact-dynamics.joint_ids = [model.getJointId(n) for n in joint_names]

Definition at line 140 of file static-contact-dynamics.py.

◆ joint_names

list static-contact-dynamics.joint_names = ['FL_KFE', 'FR_KFE', 'HL_KFE', 'HR_KFE']

Definition at line 139 of file static-contact-dynamics.py.

◆ Js__feet_bl

list static-contact-dynamics.Js__feet_bl = [np.copy(J[:3, :6]) for J in Js__feet_q]

Definition at line 92 of file static-contact-dynamics.py.

◆ Js__feet_q

list static-contact-dynamics.Js__feet_q

Initial value:

 =  [
     np.copy(pin.computeFrameJacobian(model, data, q0, id, pin.LOCAL))
     for id in feet_ids
 ]

Definition at line 87 of file static-contact-dynamics.py.

◆ Js_feet3d_q

list static-contact-dynamics.Js_feet3d_q = [np.copy(J[:3, :]) for J in Js__feet_q]

Definition at line 158 of file static-contact-dynamics.py.

◆ Js_feet_j

list static-contact-dynamics.Js_feet_j = [np.copy(J[:3, 6:]) for J in Js__feet_q]

Definition at line 125 of file static-contact-dynamics.py.

◆ l_sp__bl

static-contact-dynamics.l_sp__bl = data.oMf[bl_id].actInv(data.oMf[foot_id].act(l_sp__f))

Definition at line 111 of file static-contact-dynamics.py.

◆ l_sp__f

static-contact-dynamics.l_sp__f = pin.Force(l__f, np.zeros(3))

Definition at line 110 of file static-contact-dynamics.py.

◆ linewidth

static-contact-dynamics.linewidth

Definition at line 5 of file static-contact-dynamics.py.

◆ ls

static-contact-dynamics.ls = np.linalg.pinv(Jc__feet_bl_T) @ g_bl

Definition at line 100 of file static-contact-dynamics.py.

◆ ls__bl

list static-contact-dynamics.ls__bl = []

Definition at line 108 of file static-contact-dynamics.py.

◆ ls__f

static-contact-dynamics.ls__f = np.split(ls, ncontact)

Definition at line 103 of file static-contact-dynamics.py.

◆ mesh_dir

static-contact-dynamics.mesh_dir = pinocchio_model_dir

Definition at line 53 of file static-contact-dynamics.py.

◆ model

static-contact-dynamics.model

Definition at line 58 of file static-contact-dynamics.py.

◆ model_path

static-contact-dynamics.model_path = join(pinocchio_model_dir, "example-robot-data/robots")

Definition at line 52 of file static-contact-dynamics.py.

◆ ncontact

static-contact-dynamics.ncontact = len(feet_names)

Definition at line 83 of file static-contact-dynamics.py.

◆ pinocchio_model_dir

static-contact-dynamics.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")

Definition at line 50 of file static-contact-dynamics.py.

◆ q0

static-contact-dynamics.q0

Initial value:

 =  np.array([
     0., 0., 0.235, 0., 0., 0., 1., 0., 0.8, -1.6, 0., -0.8, 1.6, 0., 0.8, -1.6,
     0., -0.8, 1.6
 ])

Definition at line 62 of file static-contact-dynamics.py.

◆ tau

static-contact-dynamics.tau = g_j - Jc__feet_j_T @ ls

Definition at line 131 of file static-contact-dynamics.py.

◆ tau_rnea

static-contact-dynamics.tau_rnea = pin.rnea(model, data, q0, v0, a0, fs_ext)

Definition at line 148 of file static-contact-dynamics.py.

◆ urdf_filename

string static-contact-dynamics.urdf_filename = "solo12.urdf"

Definition at line 54 of file static-contact-dynamics.py.

◆ urdf_model_path

static-contact-dynamics.urdf_model_path

Initial value:

1 = join(join(model_path, "solo_description/robots"),

2 urdf_filename)

Definition at line 55 of file static-contact-dynamics.py.

◆ v0

static-contact-dynamics.v0 = np.zeros(model.nv)

Definition at line 66 of file static-contact-dynamics.py.

◆ visual_model

static-contact-dynamics.visual_model

Definition at line 58 of file static-contact-dynamics.py.

Variables

Variable Documentation

◆ a0

◆ acc

◆ bl_id

◆ collision_model

◆ data

◆ feet_ids

◆ feet_names

◆ fext__bl

◆ fs_ext

◆ g_bl

◆ g_grav

◆ g_j

◆ Jc__feet_bl_T

◆ Jc__feet_j_T

◆ joint_ids

◆ joint_names

◆ Js__feet_bl

◆ Js__feet_q

◆ Js_feet3d_q

◆ Js_feet_j

◆ l_sp__bl

◆ l_sp__f

◆ linewidth

◆ ls

◆ ls__bl

◆ ls__f

◆ mesh_dir

◆ model

◆ model_path

◆ ncontact

◆ pinocchio_model_dir

◆ q0

◆ tau

◆ tau_rnea

◆ urdf_filename

◆ urdf_model_path

◆ v0

◆ visual_model