Namespaces | Variables
static-contact-dynamics.py File Reference

Go to the source code of this file.

Namespaces

 static-contact-dynamics
 

Variables

 static-contact-dynamics.a0 = np.zeros(model.nv)
 
 static-contact-dynamics.acc
 
 static-contact-dynamics.bl_id = model.getFrameId('base_link')
 
 static-contact-dynamics.collision_model
 
 static-contact-dynamics.data = model.createData()
 
list static-contact-dynamics.feet_ids = [model.getFrameId(n) for n in feet_names]
 
list static-contact-dynamics.feet_names = ['FL_FOOT', 'FR_FOOT', 'HL_FOOT', 'HR_FOOT']
 
 static-contact-dynamics.fext__bl = pin.Force(ls__bl[joint_ids.index(joint.id)])
 
list static-contact-dynamics.fs_ext = [pin.Force(np.zeros(6)) for _ in range(len(model.joints))]
 
 static-contact-dynamics.g_bl = g_grav[:6]
 
 static-contact-dynamics.g_grav = pin.rnea(model, data, q0, v0, a0)
 
 static-contact-dynamics.g_j = g_grav[6:]
 
 static-contact-dynamics.Jc__feet_bl_T = np.zeros([6, 3 * ncontact])
 
 static-contact-dynamics.Jc__feet_j_T = np.zeros([12, 3 * ncontact])
 
list static-contact-dynamics.joint_ids = [model.getJointId(n) for n in joint_names]
 
list static-contact-dynamics.joint_names = ['FL_KFE', 'FR_KFE', 'HL_KFE', 'HR_KFE']
 
list static-contact-dynamics.Js__feet_bl = [np.copy(J[:3, :6]) for J in Js__feet_q]
 
list static-contact-dynamics.Js__feet_q
 
list static-contact-dynamics.Js_feet3d_q = [np.copy(J[:3, :]) for J in Js__feet_q]
 
list static-contact-dynamics.Js_feet_j = [np.copy(J[:3, 6:]) for J in Js__feet_q]
 
 static-contact-dynamics.l_sp__bl = data.oMf[bl_id].actInv(data.oMf[foot_id].act(l_sp__f))
 
 static-contact-dynamics.l_sp__f = pin.Force(l__f, np.zeros(3))
 
 static-contact-dynamics.linewidth
 
 static-contact-dynamics.ls = np.linalg.pinv(Jc__feet_bl_T) @ g_bl
 
list static-contact-dynamics.ls__bl = []
 
 static-contact-dynamics.ls__f = np.split(ls, ncontact)
 
 static-contact-dynamics.mesh_dir = pinocchio_model_dir
 
 static-contact-dynamics.model
 
 static-contact-dynamics.model_path = join(pinocchio_model_dir, "example-robot-data/robots")
 
 static-contact-dynamics.ncontact = len(feet_names)
 
 static-contact-dynamics.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")
 
 static-contact-dynamics.q0
 
 static-contact-dynamics.tau = g_j - Jc__feet_j_T @ ls
 
 static-contact-dynamics.tau_rnea = pin.rnea(model, data, q0, v0, a0, fs_ext)
 
string static-contact-dynamics.urdf_filename = "solo12.urdf"
 
 static-contact-dynamics.urdf_model_path
 
 static-contact-dynamics.v0 = np.zeros(model.nv)
 
 static-contact-dynamics.visual_model
 


pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:33