Variables
	A = np.vstack((S, J_constraint))

	a

	b = pin.rnea(model, data_control, q, v, np.zeros(model.nv))

	collision_model

int	constraint_index = 0

list	contact_datas = []

int	contact_dim = 6 * num_constraints

	contact_model

list	contact_models = []

	data_control = model.createData()

	data_sim = model.createData()

int	dt = 5e-3

	elapsed_time = time.time() - tic

list	feet_name = ["left_sole_link", "right_sole_link"]

	frame = model.frames[frame_id]

list	frame_ids = [model.getFrameId(frame_name) for frame_name in feet_name]

	J_constraint = np.zeros((contact_dim, model.nv))

float	Kp_posture = 30.0

float	Kv_posture = 0.05 * math.sqrt(Kp_posture)

string	mesh_dir = pinocchio_model_dir

	model

string	model_path = pinocchio_model_dir / "example-robot-data/robots"

	num_constraints = len(frame_ids)

	open

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

	prox_settings = pin.ProximalSettings(1e-12, 1e-12, 10)

	q = q0.copy()

	q0 = model.referenceConfigurations["half_sitting"]

	q_ref = pin.integrate(model, q0, 0.1 * np.random.rand(model.nv))

	S = np.zeros((model.nv - 6, model.nv))

	sol = np.linalg.lstsq(A.T, b, rcond=None)[0]

string	srdf_filename = "talos.srdf"

string	srdf_full_path = model_path / "talos_data/srdf" / srdf_filename

int	t = 0

int	T = 5

	tau = np.zeros(model.nv)

	tic = time.time()

string	urdf_filename = "talos_reduced.urdf"

string	urdf_model_path = model_path / "talos_data/robots" / urdf_filename

	v = v0.copy()

	v0 = np.zeros(model.nv)

	v_ref = v0.copy()

	visual_model

	viz = MeshcatVisualizer(model, collision_model, visual_model)

Variable Documentation

◆ A

simulation-contact-dynamics.A = np.vstack((S, J_constraint))

Definition at line 110 of file simulation-contact-dynamics.py.

◆ a

simulation-contact-dynamics.a

Initial value:

 =  pin.constraintDynamics(
         model, data_sim, q, v, tau, contact_models, contact_datas, prox_settings
     )

Definition at line 122 of file simulation-contact-dynamics.py.

◆ b

simulation-contact-dynamics.b = pin.rnea(model, data_control, q, v, np.zeros(model.nv))

Definition at line 111 of file simulation-contact-dynamics.py.

◆ collision_model

simulation-contact-dynamics.collision_model

Definition at line 20 of file simulation-contact-dynamics.py.

◆ constraint_index

int simulation-contact-dynamics.constraint_index = 0

Definition at line 98 of file simulation-contact-dynamics.py.

◆ contact_datas

list simulation-contact-dynamics.contact_datas = []

Definition at line 60 of file simulation-contact-dynamics.py.

◆ contact_dim

int simulation-contact-dynamics.contact_dim = 6 * num_constraints

Definition at line 73 of file simulation-contact-dynamics.py.

◆ contact_model

list simulation-contact-dynamics.contact_model

Initial value:

 =  pin.RigidConstraintModel(
         pin.ContactType.CONTACT_6D, model, frame.parentJoint, frame.placement
     )

Definition at line 65 of file simulation-contact-dynamics.py.

◆ contact_models

list simulation-contact-dynamics.contact_models = []

Definition at line 59 of file simulation-contact-dynamics.py.

◆ data_control

simulation-contact-dynamics.data_control = model.createData()

Definition at line 57 of file simulation-contact-dynamics.py.

◆ data_sim

simulation-contact-dynamics.data_sim = model.createData()

Definition at line 56 of file simulation-contact-dynamics.py.

◆ dt

int simulation-contact-dynamics.dt = 5e-3

Definition at line 78 of file simulation-contact-dynamics.py.

◆ elapsed_time

simulation-contact-dynamics.elapsed_time = time.time() - tic

Definition at line 134 of file simulation-contact-dynamics.py.

◆ feet_name

list simulation-contact-dynamics.feet_name = ["left_sole_link", "right_sole_link"]

Definition at line 51 of file simulation-contact-dynamics.py.

◆ frame

simulation-contact-dynamics.frame = model.frames[frame_id]

Definition at line 64 of file simulation-contact-dynamics.py.

◆ frame_ids

list simulation-contact-dynamics.frame_ids = [model.getFrameId(frame_name) for frame_name in feet_name]

Definition at line 52 of file simulation-contact-dynamics.py.

◆ J_constraint

simulation-contact-dynamics.J_constraint = np.zeros((contact_dim, model.nv))

Definition at line 96 of file simulation-contact-dynamics.py.

◆ Kp_posture

float simulation-contact-dynamics.Kp_posture = 30.0

Definition at line 82 of file simulation-contact-dynamics.py.

◆ Kv_posture

float simulation-contact-dynamics.Kv_posture = 0.05 * math.sqrt(Kp_posture)

Definition at line 83 of file simulation-contact-dynamics.py.

◆ mesh_dir

string simulation-contact-dynamics.mesh_dir = pinocchio_model_dir

Definition at line 14 of file simulation-contact-dynamics.py.

◆ model

simulation-contact-dynamics.model

Definition at line 20 of file simulation-contact-dynamics.py.

◆ model_path

string simulation-contact-dynamics.model_path = pinocchio_model_dir / "example-robot-data/robots"

Definition at line 13 of file simulation-contact-dynamics.py.

◆ num_constraints

simulation-contact-dynamics.num_constraints = len(frame_ids)

Definition at line 72 of file simulation-contact-dynamics.py.

◆ open

simulation-contact-dynamics.open

Definition at line 33 of file simulation-contact-dynamics.py.

◆ pinocchio_model_dir

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

Definition at line 11 of file simulation-contact-dynamics.py.

◆ prox_settings

simulation-contact-dynamics.prox_settings = pin.ProximalSettings(1e-12, 1e-12, 10)

Definition at line 121 of file simulation-contact-dynamics.py.

◆ q

simulation-contact-dynamics.q = q0.copy()

Definition at line 85 of file simulation-contact-dynamics.py.

◆ q0

simulation-contact-dynamics.q0 = model.referenceConfigurations["half_sitting"]

Definition at line 47 of file simulation-contact-dynamics.py.

◆ q_ref

simulation-contact-dynamics.q_ref = pin.integrate(model, q0, 0.1 * np.random.rand(model.nv))

Definition at line 48 of file simulation-contact-dynamics.py.

◆ S

simulation-contact-dynamics.S = np.zeros((model.nv - 6, model.nv))

Definition at line 80 of file simulation-contact-dynamics.py.

◆ sol

simulation-contact-dynamics.sol = np.linalg.lstsq(A.T, b, rcond=None)[0]

Definition at line 113 of file simulation-contact-dynamics.py.

◆ srdf_filename

string simulation-contact-dynamics.srdf_filename = "talos.srdf"

Definition at line 17 of file simulation-contact-dynamics.py.

◆ srdf_full_path

string simulation-contact-dynamics.srdf_full_path = model_path / "talos_data/srdf" / srdf_filename

Definition at line 18 of file simulation-contact-dynamics.py.

◆ t

int simulation-contact-dynamics.t = 0

Definition at line 77 of file simulation-contact-dynamics.py.

◆ T

int simulation-contact-dynamics.T = 5

Definition at line 89 of file simulation-contact-dynamics.py.

◆ tau

simulation-contact-dynamics.tau = np.zeros(model.nv)

Definition at line 87 of file simulation-contact-dynamics.py.

◆ tic

simulation-contact-dynamics.tic = time.time()

Definition at line 95 of file simulation-contact-dynamics.py.

◆ urdf_filename

string simulation-contact-dynamics.urdf_filename = "talos_reduced.urdf"

Definition at line 15 of file simulation-contact-dynamics.py.

◆ urdf_model_path

string simulation-contact-dynamics.urdf_model_path = model_path / "talos_data/robots" / urdf_filename

Definition at line 16 of file simulation-contact-dynamics.py.

◆ v

simulation-contact-dynamics.v = v0.copy()

Definition at line 86 of file simulation-contact-dynamics.py.

◆ v0

simulation-contact-dynamics.v0 = np.zeros(model.nv)

Definition at line 54 of file simulation-contact-dynamics.py.

◆ v_ref

simulation-contact-dynamics.v_ref = v0.copy()

Definition at line 55 of file simulation-contact-dynamics.py.

◆ visual_model

simulation-contact-dynamics.visual_model

Definition at line 20 of file simulation-contact-dynamics.py.

◆ viz

simulation-contact-dynamics.viz = MeshcatVisualizer(model, collision_model, visual_model)

Definition at line 32 of file simulation-contact-dynamics.py.

Variables

Variable Documentation

◆ A

◆ a

◆ b

◆ collision_model

◆ constraint_index

◆ contact_datas

◆ contact_dim

◆ contact_model

◆ contact_models

◆ data_control

◆ data_sim

◆ dt

◆ elapsed_time

◆ feet_name

◆ frame

◆ frame_ids

◆ J_constraint

◆ Kp_posture

◆ Kv_posture

◆ mesh_dir

◆ model

◆ model_path

◆ num_constraints

◆ open

◆ pinocchio_model_dir

◆ prox_settings

◆ q

◆ q0

◆ q_ref

◆ S

◆ sol

◆ srdf_filename

◆ srdf_full_path

◆ t

◆ T

◆ tau

◆ tic

◆ urdf_filename

◆ urdf_model_path

◆ v

◆ v0

◆ v_ref

◆ visual_model

◆ viz