bindings
python
pinocchio
derivative
xm.py
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#
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# Copyright (c) 2016 CNRS
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#
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import
pinocchio
as
pin
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from
pinocchio.robot_wrapper
import
RobotWrapper
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from
pinocchio.utils
import
*
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from
dcrba
import
*
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np.random.seed(0)
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robot =
RobotWrapper
(
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"/home/nmansard/src/pinocchio/pinocchio/models/romeo/urdf/romeo.urdf"
,
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[
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"/home/nmansard/src/pinocchio/pinocchio/models/romeo/"
,
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],
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pin.JointModelFreeFlyer(),
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)
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q =
rand
(robot.model.nq)
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q[3:7] /= norm(q[3:7])
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vq =
rand
(robot.model.nv)
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aq =
rand
(robot.model.nv)
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# d/dq M(q)
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dcrba =
DCRBA
(robot)
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dcrba.pre(q)
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Mp =
dcrba
()
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# d/dvq RNEA(q,vq) = C(q,vq)
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coriolis =
Coriolis
(robot)
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C =
coriolis
(q, vq)
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# d/dq RNEA(q,vq,aq)
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drnea =
DRNEA
(robot)
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aq =
rand
(robot.model.nv)
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R =
drnea
(q, vq, aq)
pinocchio.robot_wrapper.RobotWrapper
Definition:
robot_wrapper.py:12
dcrba.DCRBA
Definition:
dcrba.py:48
dcrba.Coriolis
Definition:
dcrba.py:228
xm.drnea
drnea
Definition:
xm.py:34
dcrba
Definition:
dcrba.py:1
pinocchio.utils
Definition:
bindings/python/pinocchio/utils.py:1
xm.coriolis
coriolis
Definition:
xm.py:30
pinocchio.robot_wrapper
Definition:
robot_wrapper.py:1
dcrba.DRNEA
Definition:
dcrba.py:307
pinocchio.utils.rand
def rand(n)
Definition:
bindings/python/pinocchio/utils.py:42
pinocchio
Author(s):
autogenerated on Sat Jun 22 2024 02:41:50