Variables
	cmodel

list	contact_data = [cmodel.createData() for cmodel in contact_models]

list	contact_models = []

	data = model.createData()

	delassus_matrix = data.contact_chol.getInverseOperationalSpaceInertiaMatrix()

	delassus_matrix_inv = data.contact_chol.getOperationalSpaceInertiaMatrix()

list	feet_frame_ids = []

list	feet_names = ["LH_FOOT", "RH_FOOT", "LF_FOOT", "RF_FOOT"]

	frame = model.frames[fid]

	frame_id = model.getFrameId(foot_name)

	model = pin.buildModelFromUrdf(urdf_filename)

string	pinocchio_model_dir = Path(__file__).parent.parent / "models"

	q0 = pin.neutral(model)

tuple	urdf_filename

Variable Documentation

◆ cmodel

contact-cholesky.cmodel

Initial value:

 =  pin.RigidConstraintModel(
         pin.ContactType.CONTACT_3D,
         frame.parent,
         frame.placement,
         pin.LOCAL_WORLD_ALIGNED,
     )

Definition at line 25 of file contact-cholesky.py.

◆ contact_data

list contact-cholesky.contact_data = [cmodel.createData() for cmodel in contact_models]

Definition at line 33 of file contact-cholesky.py.

◆ contact_models

list contact-cholesky.contact_models = []

Definition at line 22 of file contact-cholesky.py.

◆ data

contact-cholesky.data = model.createData()

Definition at line 11 of file contact-cholesky.py.

◆ delassus_matrix

contact-cholesky.delassus_matrix = data.contact_chol.getInverseOperationalSpaceInertiaMatrix()

Definition at line 40 of file contact-cholesky.py.

◆ delassus_matrix_inv

contact-cholesky.delassus_matrix_inv = data.contact_chol.getOperationalSpaceInertiaMatrix()

Definition at line 41 of file contact-cholesky.py.

◆ feet_frame_ids

list contact-cholesky.feet_frame_ids = []

Definition at line 17 of file contact-cholesky.py.

◆ feet_names

list contact-cholesky.feet_names = ["LH_FOOT", "RH_FOOT", "LF_FOOT", "RF_FOOT"]

Definition at line 16 of file contact-cholesky.py.

◆ frame

contact-cholesky.frame = model.frames[fid]

Definition at line 24 of file contact-cholesky.py.

◆ frame_id

contact-cholesky.frame_id = model.getFrameId(foot_name)

Definition at line 19 of file contact-cholesky.py.

◆ model

contact-cholesky.model = pin.buildModelFromUrdf(urdf_filename)

Definition at line 10 of file contact-cholesky.py.

◆ pinocchio_model_dir

string contact-cholesky.pinocchio_model_dir = Path(__file__).parent.parent / "models"

Definition at line 5 of file contact-cholesky.py.

◆ q0

contact-cholesky.q0 = pin.neutral(model)

Definition at line 13 of file contact-cholesky.py.

◆ urdf_filename

tuple contact-cholesky.urdf_filename