|
| | simulation-contact-dynamics.A = np.vstack((S, J_constraint)) |
| |
| | simulation-contact-dynamics.a |
| |
| | simulation-contact-dynamics.b = pin.rnea(model, data_control, q, v, np.zeros(model.nv)) |
| |
| | simulation-contact-dynamics.collision_model |
| |
| int | simulation-contact-dynamics.constraint_index = 0 |
| |
| list | simulation-contact-dynamics.contact_datas = [] |
| |
| int | simulation-contact-dynamics.contact_dim = 6 * num_constraints |
| |
| | simulation-contact-dynamics.contact_model |
| |
| list | simulation-contact-dynamics.contact_models = [] |
| |
| | simulation-contact-dynamics.data_control = model.createData() |
| |
| | simulation-contact-dynamics.data_sim = model.createData() |
| |
| int | simulation-contact-dynamics.dt = 5e-3 |
| |
| | simulation-contact-dynamics.elapsed_time = time.time() - tic |
| |
| list | simulation-contact-dynamics.feet_name = ["left_sole_link", "right_sole_link"] |
| |
| | simulation-contact-dynamics.frame = model.frames[frame_id] |
| |
| list | simulation-contact-dynamics.frame_ids = [model.getFrameId(frame_name) for frame_name in feet_name] |
| |
| | simulation-contact-dynamics.J_constraint = np.zeros((contact_dim, model.nv)) |
| |
| float | simulation-contact-dynamics.Kp_posture = 30.0 |
| |
| float | simulation-contact-dynamics.Kv_posture = 0.05 * math.sqrt(Kp_posture) |
| |
| string | simulation-contact-dynamics.mesh_dir = pinocchio_model_dir |
| |
| | simulation-contact-dynamics.model |
| |
| string | simulation-contact-dynamics.model_path = pinocchio_model_dir / "example-robot-data/robots" |
| |
| | simulation-contact-dynamics.num_constraints = len(frame_ids) |
| |
| | simulation-contact-dynamics.open |
| |
| string | simulation-contact-dynamics.pinocchio_model_dir = Path(__file__).parent.parent / "models" |
| |
| | simulation-contact-dynamics.prox_settings = pin.ProximalSettings(1e-12, 1e-12, 10) |
| |
| | simulation-contact-dynamics.q = q0.copy() |
| |
| | simulation-contact-dynamics.q0 = model.referenceConfigurations["half_sitting"] |
| |
| | simulation-contact-dynamics.q_ref = pin.integrate(model, q0, 0.1 * np.random.rand(model.nv)) |
| |
| | simulation-contact-dynamics.S = np.zeros((model.nv - 6, model.nv)) |
| |
| | simulation-contact-dynamics.sol = np.linalg.lstsq(A.T, b, rcond=None)[0] |
| |
| string | simulation-contact-dynamics.srdf_filename = "talos.srdf" |
| |
| string | simulation-contact-dynamics.srdf_full_path = model_path / "talos_data/srdf" / srdf_filename |
| |
| int | simulation-contact-dynamics.t = 0 |
| |
| int | simulation-contact-dynamics.T = 5 |
| |
| | simulation-contact-dynamics.tau = np.zeros(model.nv) |
| |
| | simulation-contact-dynamics.tic = time.time() |
| |
| string | simulation-contact-dynamics.urdf_filename = "talos_reduced.urdf" |
| |
| string | simulation-contact-dynamics.urdf_model_path = model_path / "talos_data/robots" / urdf_filename |
| |
| | simulation-contact-dynamics.v = v0.copy() |
| |
| | simulation-contact-dynamics.v0 = np.zeros(model.nv) |
| |
| | simulation-contact-dynamics.v_ref = v0.copy() |
| |
| | simulation-contact-dynamics.visual_model |
| |
| | simulation-contact-dynamics.viz = MeshcatVisualizer(model, collision_model, visual_model) |
| |