static-contact-dynamics Namespace Reference

Variables
	a0 = np.zeros(model.nv)
	acc
	bl_id = model.getFrameId("base_link")
	collision_model
	data = model.createData()
list	feet_ids = [model.getFrameId(n) for n in feet_names]
list	feet_names = ["FL_FOOT", "FR_FOOT", "HL_FOOT", "HR_FOOT"]
	fext__bl = pin.Force(ls__bl[joint_ids.index(joint.id)])
list	fs_ext = [pin.Force(np.zeros(6)) for _ in range(len(model.joints))]
	g_bl = g_grav[:6]
	g_grav = pin.rnea(model, data, q0, v0, a0)
	g_j = g_grav[6:]
	Jc__feet_bl_T = np.zeros([6, 3 * ncontact])
	Jc__feet_j_T = np.zeros([12, 3 * ncontact])
list	joint_ids = [model.getJointId(n) for n in joint_names]
list	joint_names = ["FL_KFE", "FR_KFE", "HL_KFE", "HR_KFE"]
list	Js__feet_bl = [np.copy(J[:3, :6]) for J in Js__feet_q]
list	Js__feet_q
list	Js_feet3d_q = [np.copy(J[:3, :]) for J in Js__feet_q]
list	Js_feet_j = [np.copy(J[:3, 6:]) for J in Js__feet_q]
	l_sp__bl = data.oMf[bl_id].actInv(data.oMf[foot_id].act(l_sp__f))
	l_sp__f = pin.Force(l__f, np.zeros(3))
	linewidth
	ls = np.linalg.pinv(Jc__feet_bl_T) @ g_bl
list	ls__bl = []
	ls__f = np.split(ls, ncontact)
string	mesh_dir = pinocchio_model_dir
	model
string	model_path = pinocchio_model_dir / "example-robot-data/robots"
	ncontact = len(feet_names)
string	pinocchio_model_dir = Path(__file__).parent.parent / "models"
	q0
	tau = g_j - Jc__feet_j_T @ ls
	tau_rnea = pin.rnea(model, data, q0, v0, a0, fs_ext)
string	urdf_filename = "solo12.urdf"
string	urdf_model_path = model_path / "solo_description/robots" / urdf_filename
	v0 = np.zeros(model.nv)
	visual_model

Variable Documentation

a0

static-contact-dynamics.a0 = np.zeros(model.nv)

Definition at line 91 of file static-contact-dynamics.py.

acc

static-contact-dynamics.acc

Initial value:

=  pin.forwardDynamics(
    model,
    data,
    q0,
    v0,
    np.append(np.zeros(6), tau),
    np.vstack(Js_feet3d_q),
    np.zeros(12),
)

Definition at line 187 of file static-contact-dynamics.py.

bl_id

static-contact-dynamics.bl_id = model.getFrameId("base_link")

Definition at line 108 of file static-contact-dynamics.py.

collision_model

static-contact-dynamics.collision_model

Definition at line 62 of file static-contact-dynamics.py.

data

static-contact-dynamics.data = model.createData()

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

feet_ids

list static-contact-dynamics.feet_ids = [model.getFrameId(n) for n in feet_names]

Definition at line 107 of file static-contact-dynamics.py.

feet_names

list static-contact-dynamics.feet_names = ["FL_FOOT", "FR_FOOT", "HL_FOOT", "HR_FOOT"]

Definition at line 106 of file static-contact-dynamics.py.

fext__bl

static-contact-dynamics.fext__bl = pin.Force(ls__bl[joint_ids.index(joint.id)])

Definition at line 173 of file static-contact-dynamics.py.

fs_ext

list static-contact-dynamics.fs_ext = [pin.Force(np.zeros(6)) for _ in range(len(model.joints))]

Definition at line 170 of file static-contact-dynamics.py.

g_bl

static-contact-dynamics.g_bl = g_grav[:6]

Definition at line 99 of file static-contact-dynamics.py.

g_grav

static-contact-dynamics.g_grav = pin.rnea(model, data, q0, v0, a0)

Definition at line 97 of file static-contact-dynamics.py.

g_j

static-contact-dynamics.g_j = g_grav[6:]

Definition at line 100 of file static-contact-dynamics.py.

Jc__feet_bl_T

static-contact-dynamics.Jc__feet_bl_T = np.zeros([6, 3 * ncontact])

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

Jc__feet_j_T

static-contact-dynamics.Jc__feet_j_T = np.zeros([12, 3 * ncontact])

Definition at line 154 of file static-contact-dynamics.py.

joint_ids

list static-contact-dynamics.joint_ids = [model.getJointId(n) for n in joint_names]

Definition at line 168 of file static-contact-dynamics.py.

joint_names

list static-contact-dynamics.joint_names = ["FL_KFE", "FR_KFE", "HL_KFE", "HR_KFE"]

Definition at line 167 of file static-contact-dynamics.py.

Js__feet_bl

list static-contact-dynamics.Js__feet_bl = [np.copy(J[:3, :6]) for J in Js__feet_q]

Definition at line 117 of file static-contact-dynamics.py.

Js__feet_q

list static-contact-dynamics.Js__feet_q

Initial value:

=  [
    np.copy(pin.computeFrameJacobian(model, data, q0, id, pin.LOCAL)) for id in feet_ids
]

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

Js_feet3d_q

list static-contact-dynamics.Js_feet3d_q = [np.copy(J[:3, :]) for J in Js__feet_q]

Definition at line 186 of file static-contact-dynamics.py.

Js_feet_j

list static-contact-dynamics.Js_feet_j = [np.copy(J[:3, 6:]) for J in Js__feet_q]

Definition at line 152 of file static-contact-dynamics.py.

l_sp__bl

static-contact-dynamics.l_sp__bl = data.oMf[bl_id].actInv(data.oMf[foot_id].act(l_sp__f))

Definition at line 137 of file static-contact-dynamics.py.

l_sp__f

static-contact-dynamics.l_sp__f = pin.Force(l__f, np.zeros(3))

Definition at line 136 of file static-contact-dynamics.py.

linewidth

static-contact-dynamics.linewidth

Definition at line 6 of file static-contact-dynamics.py.

ls

static-contact-dynamics.ls = np.linalg.pinv(Jc__feet_bl_T) @ g_bl

Definition at line 126 of file static-contact-dynamics.py.

ls__bl

list static-contact-dynamics.ls__bl = []

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

ls__f

static-contact-dynamics.ls__f = np.split(ls, ncontact)

Definition at line 129 of file static-contact-dynamics.py.

mesh_dir

string static-contact-dynamics.mesh_dir = pinocchio_model_dir

Definition at line 58 of file static-contact-dynamics.py.

model

static-contact-dynamics.model

Definition at line 62 of file static-contact-dynamics.py.

model_path

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

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

ncontact

static-contact-dynamics.ncontact = len(feet_names)

Definition at line 109 of file static-contact-dynamics.py.

pinocchio_model_dir

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

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

q0

static-contact-dynamics.q0

Initial value:

=  np.array(
    [
        0.0,
        0.0,
        0.235,
        0.0,
        0.0,
        0.0,
        1.0,
        0.0,
        0.8,
        -1.6,
        0.0,
        -0.8,
        1.6,
        0.0,
        0.8,
        -1.6,
        0.0,
        -0.8,
        1.6,
    ]
)

Definition at line 67 of file static-contact-dynamics.py.

tau

static-contact-dynamics.tau = g_j - Jc__feet_j_T @ ls

Definition at line 158 of file static-contact-dynamics.py.

tau_rnea

static-contact-dynamics.tau_rnea = pin.rnea(model, data, q0, v0, a0, fs_ext)

Definition at line 176 of file static-contact-dynamics.py.

urdf_filename

string static-contact-dynamics.urdf_filename = "solo12.urdf"

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

urdf_model_path

string static-contact-dynamics.urdf_model_path = model_path / "solo_description/robots" / urdf_filename

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

v0

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

Definition at line 90 of file static-contact-dynamics.py.

visual_model

static-contact-dynamics.visual_model

Definition at line 62 of file static-contact-dynamics.py.