Variables
	a_computed = np.linalg.solve(M_mimic, tau_mimic - C_mimic)

	a_full = G.transpose() @ a_mimic

	a_mimic = np.random.random(model_mimic.nv)

	C_mimic = pinocchio.nle(model_mimic, data_mimic, q_mimic, v_mimic)

	data_full = model_full.createData()

	data_mimic = model_mimic.createData()

	G = np.zeros([model_mimic.nv, model_full.nv])

	M_full = pinocchio.crba(model_full, data_full, q_full)

	M_mimic = pinocchio.crba(model_mimic, data_mimic, q_mimic)

	mimic_scaling = getattr(model_mimic.joints[i].extract(), "scaling", None)

	model_full = pinocchio.buildModelFromUrdf(model_path)

	model_mimic = pinocchio.transformJointIntoMimic(model_full, 9, 10, -1.0, 0.0)

	model_mimic_from_urdf = pinocchio.buildModelFromUrdf(model_path, mimic=True)

string	model_path = pinocchio_model_dir / "baxter_simple.urdf"

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

	q_full = G.transpose() @ q_mimic

	q_mimic = pinocchio.neutral(model_mimic)

	tau_full = pinocchio.rnea(model_full, data_full, q_full, v_full, a_full)

	tau_mimic = pinocchio.rnea(model_mimic, data_mimic, q_mimic, v_mimic, a_mimic)

	v_full = G.transpose() @ v_mimic

	v_mimic = np.random.random(model_mimic.nv)

Variable Documentation

◆ a_computed

mimic_dynamics.a_computed = np.linalg.solve(M_mimic, tau_mimic - C_mimic)

Definition at line 67 of file mimic_dynamics.py.

◆ a_full

mimic_dynamics.a_full = G.transpose() @ a_mimic

Definition at line 49 of file mimic_dynamics.py.

◆ a_mimic

mimic_dynamics.a_mimic = np.random.random(model_mimic.nv)

Definition at line 41 of file mimic_dynamics.py.

◆ C_mimic

mimic_dynamics.C_mimic = pinocchio.nle(model_mimic, data_mimic, q_mimic, v_mimic)

Definition at line 63 of file mimic_dynamics.py.

◆ data_full

mimic_dynamics.data_full = model_full.createData()

Definition at line 53 of file mimic_dynamics.py.

◆ data_mimic

mimic_dynamics.data_mimic = model_mimic.createData()

Definition at line 52 of file mimic_dynamics.py.

◆ G

mimic_dynamics.G = np.zeros([model_mimic.nv, model_full.nv])

Definition at line 27 of file mimic_dynamics.py.

◆ M_full

mimic_dynamics.M_full = pinocchio.crba(model_full, data_full, q_full)

Definition at line 60 of file mimic_dynamics.py.

◆ M_mimic

mimic_dynamics.M_mimic = pinocchio.crba(model_mimic, data_mimic, q_mimic)

Definition at line 59 of file mimic_dynamics.py.

◆ mimic_scaling

mimic_dynamics.mimic_scaling = getattr(model_mimic.joints[i].extract(), "scaling", None)

Definition at line 29 of file mimic_dynamics.py.

◆ model_full

mimic_dynamics.model_full = pinocchio.buildModelFromUrdf(model_path)

Definition at line 9 of file mimic_dynamics.py.

◆ model_mimic

mimic_dynamics.model_mimic = pinocchio.transformJointIntoMimic(model_full, 9, 10, -1.0, 0.0)

Definition at line 19 of file mimic_dynamics.py.

◆ model_mimic_from_urdf

mimic_dynamics.model_mimic_from_urdf = pinocchio.buildModelFromUrdf(model_path, mimic=True)

Definition at line 13 of file mimic_dynamics.py.

◆ model_path

string mimic_dynamics.model_path = pinocchio_model_dir / "baxter_simple.urdf"

Definition at line 8 of file mimic_dynamics.py.

◆ pinocchio_model_dir

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

Definition at line 7 of file mimic_dynamics.py.

◆ q_full

mimic_dynamics.q_full = G.transpose() @ q_mimic

Definition at line 46 of file mimic_dynamics.py.

◆ q_mimic

mimic_dynamics.q_mimic = pinocchio.neutral(model_mimic)

Definition at line 39 of file mimic_dynamics.py.

◆ tau_full

mimic_dynamics.tau_full = pinocchio.rnea(model_full, data_full, q_full, v_full, a_full)

Definition at line 56 of file mimic_dynamics.py.

◆ tau_mimic

mimic_dynamics.tau_mimic = pinocchio.rnea(model_mimic, data_mimic, q_mimic, v_mimic, a_mimic)

Definition at line 55 of file mimic_dynamics.py.

◆ v_full

mimic_dynamics.v_full = G.transpose() @ v_mimic

Definition at line 48 of file mimic_dynamics.py.

◆ v_mimic

mimic_dynamics.v_mimic = np.random.random(model_mimic.nv)

Definition at line 40 of file mimic_dynamics.py.

Variables