|
| | mimic_dynamics.a_computed = np.linalg.solve(M_mimic, tau_mimic - C_mimic) |
| |
| | mimic_dynamics.a_full = G.transpose() @ a_mimic |
| |
| | mimic_dynamics.a_mimic = np.random.random(model_mimic.nv) |
| |
| | mimic_dynamics.C_mimic = pinocchio.nle(model_mimic, data_mimic, q_mimic, v_mimic) |
| |
| | mimic_dynamics.data_full = model_full.createData() |
| |
| | mimic_dynamics.data_mimic = model_mimic.createData() |
| |
| | mimic_dynamics.G = np.zeros([model_mimic.nv, model_full.nv]) |
| |
| | mimic_dynamics.M_full = pinocchio.crba(model_full, data_full, q_full) |
| |
| | mimic_dynamics.M_mimic = pinocchio.crba(model_mimic, data_mimic, q_mimic) |
| |
| | mimic_dynamics.mimic_scaling = getattr(model_mimic.joints[i].extract(), "scaling", None) |
| |
| | mimic_dynamics.model_full = pinocchio.buildModelFromUrdf(model_path) |
| |
| | mimic_dynamics.model_mimic = pinocchio.transformJointIntoMimic(model_full, 9, 10, -1.0, 0.0) |
| |
| | mimic_dynamics.model_mimic_from_urdf = pinocchio.buildModelFromUrdf(model_path, mimic=True) |
| |
| string | mimic_dynamics.model_path = pinocchio_model_dir / "baxter_simple.urdf" |
| |
| string | mimic_dynamics.pinocchio_model_dir = Path(__file__).parent.parent / "models" |
| |
| | mimic_dynamics.q_full = G.transpose() @ q_mimic |
| |
| | mimic_dynamics.q_mimic = pinocchio.neutral(model_mimic) |
| |
| | mimic_dynamics.tau_full = pinocchio.rnea(model_full, data_full, q_full, v_full, a_full) |
| |
| | mimic_dynamics.tau_mimic = pinocchio.rnea(model_mimic, data_mimic, q_mimic, v_mimic, a_mimic) |
| |
| | mimic_dynamics.v_full = G.transpose() @ v_mimic |
| |
| | mimic_dynamics.v_mimic = np.random.random(model_mimic.nv) |
| |