anymal-simulation.py File Reference

Go to the source code of this file.

Namespaces
	anymal-simulation

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

Variables
list	anymal-simulation.constraint_datas = [cm.createData() for cm in constraint_models]
	anymal-simulation.constraint_dim = sum([cm.size() for cm in constraint_models])
list	anymal-simulation.constraint_models = []
	anymal-simulation.contact_model_lf1
	anymal-simulation.data = robot.data
int	anymal-simulation.eps = 1e-10
list	anymal-simulation.foot_frame_ids = [robot.model.getFrameId(frame_name) for frame_name in foot_frames]
list	anymal-simulation.foot_frames = [lfFoot, rfFoot, lhFoot, rhFoot]
list	anymal-simulation.foot_joint_ids
	anymal-simulation.gui = robot.viewer.gui
	anymal-simulation.kkt_constraint = pinocchio.ContactCholeskyDecomposition(model, constraint_models)
	anymal-simulation.lfFoot
	anymal-simulation.lhFoot
	anymal-simulation.mass = data.mass[0]
	anymal-simulation.model = robot.model
float	anymal-simulation.mu = 0.0
int	anymal-simulation.N = 100000
	anymal-simulation.q = robot.q0.copy()
	anymal-simulation.q0
def	anymal-simulation.q_new = squashing(model, data, robot.q0)
	anymal-simulation.q_sol = q.copy()
	anymal-simulation.rfFoot
	anymal-simulation.rhFoot
	anymal-simulation.robot = load("anymal")
string	anymal-simulation.state_name = "standing"
	anymal-simulation.window_id = robot.viewer.gui.getWindowID("python-pinocchio")