Functions | |
def | check_joint (model, nj) |
def | squashing (model, data, q_in, Nin=N, epsin=eps, verbose=True) |
def | update_axis (q) |
Variables | |
float | axis_size = 0.08 |
back_placement = pinocchio.SE3(np.identity(3), np.array([0.03, -0.0, 0.0])) | |
com_base = robot.data.com[0].copy() | |
com_des = lambda k: com_base - np.array([0.0, 0.0, np.abs(com_drop_amp)]) | |
float | com_drop_amp = 0.1 |
constraint_datas = pinocchio.StdVec_RigidConstraintData() | |
constraint_dim = sum([cm.size() for cm in constraint_models]) | |
constraint_models = robot.constraint_models | |
contact_model_lf1 | |
contact_model_lf2 | |
data = pinocchio.Data(robot.model) | |
int | eps = 1e-6 |
False | |
list | foot_joint_ids = [robot.model.getJointId(joint_name) for joint_name in foot_joints] |
list | foot_joints = ["left-plantar-foot-joint", "right-plantar-foot-joint"] |
foot_length = np.linalg.norm(front_placement.translation - back_placement.translation) | |
front_placement = pinocchio.SE3(np.identity(3), np.array([-0.1, 0.11, 0.0])) | |
gui = robot.viewer.gui | |
has_rotor_parameters | |
joint2_placement = robot.data.oMi[joint_id] * front_placement | |
kkt_constraint = pinocchio.ContactCholeskyDecomposition(robot.model, constraint_models) | |
loadModel | |
mass = robot.data.mass[0] | |
mid_point = np.zeros(3) | |
string | mid_point_name = "hpp-gui/mid_point" |
mid_point_pos = pinocchio.SE3(np.identity(3), mid_point) | |
model | |
string | model_dir = "/local/rbudhira/devel/install/sot/share/example-robot-data/robots/" |
int | mu = 1e-4 |
int | N = 1000 |
string | name1 = "hpp-gui/cm1_" + str(j) |
string | name2 = "hpp-gui/cm2_" + str(j) |
string | package_dir = model_dir + "../../" |
pos1 = robot.data.oMi[cm.joint1_id] * cm.joint1_placement | |
pos2 = robot.data.oMi[cm.joint2_id] * cm.joint2_placement | |
q = q0.copy() | |
q0 = robot.q0.copy() | |
q_sol = q.copy() | |
qin = robot.q0.copy() | |
def | qout = squashing(robot.model, data, qin) |
float | radius = 0.005 |
float | red_color = 1.0 * float(j) / float(len(constraint_models)) |
referencePose | |
robot | |
string | sdf_filename = model_dir + "cassie_description/robots/cassie.sdf" |
list | sdf_parent_guidance |
string | srdf_path = model_dir + "cassie_description/srdf/cassie_v2.srdf" |
float | transparency = 0.5 |
window_id = robot.viewer.gui.getWindowID("python-pinocchio") | |
def cassie-simulation.check_joint | ( | model, | |
nj | |||
) |
Definition at line 122 of file cassie-simulation.py.
Definition at line 202 of file cassie-simulation.py.
def cassie-simulation.update_axis | ( | q | ) |
Definition at line 110 of file cassie-simulation.py.
float cassie-simulation.axis_size = 0.08 |
Definition at line 155 of file cassie-simulation.py.
cassie-simulation.back_placement = pinocchio.SE3(np.identity(3), np.array([0.03, -0.0, 0.0])) |
Definition at line 59 of file cassie-simulation.py.
cassie-simulation.com_base = robot.data.com[0].copy() |
Definition at line 196 of file cassie-simulation.py.
cassie-simulation.com_des = lambda k: com_base - np.array([0.0, 0.0, np.abs(com_drop_amp)]) |
Definition at line 199 of file cassie-simulation.py.
float cassie-simulation.com_drop_amp = 0.1 |
Definition at line 198 of file cassie-simulation.py.
cassie-simulation.constraint_datas = pinocchio.StdVec_RigidConstraintData() |
Definition at line 105 of file cassie-simulation.py.
cassie-simulation.constraint_dim = sum([cm.size() for cm in constraint_models]) |
Definition at line 139 of file cassie-simulation.py.
cassie-simulation.constraint_models = robot.constraint_models |
Definition at line 48 of file cassie-simulation.py.
cassie-simulation.contact_model_lf1 |
Definition at line 71 of file cassie-simulation.py.
cassie-simulation.contact_model_lf2 |
Definition at line 84 of file cassie-simulation.py.
cassie-simulation.data = pinocchio.Data(robot.model) |
Definition at line 50 of file cassie-simulation.py.
int cassie-simulation.eps = 1e-6 |
Definition at line 141 of file cassie-simulation.py.
cassie-simulation.False |
Definition at line 44 of file cassie-simulation.py.
list cassie-simulation.foot_joint_ids = [robot.model.getJointId(joint_name) for joint_name in foot_joints] |
Definition at line 55 of file cassie-simulation.py.
list cassie-simulation.foot_joints = ["left-plantar-foot-joint", "right-plantar-foot-joint"] |
Definition at line 54 of file cassie-simulation.py.
cassie-simulation.foot_length = np.linalg.norm(front_placement.translation - back_placement.translation) |
Definition at line 61 of file cassie-simulation.py.
cassie-simulation.front_placement = pinocchio.SE3(np.identity(3), np.array([-0.1, 0.11, 0.0])) |
Definition at line 57 of file cassie-simulation.py.
cassie-simulation.gui = robot.viewer.gui |
Definition at line 101 of file cassie-simulation.py.
cassie-simulation.has_rotor_parameters |
Definition at line 44 of file cassie-simulation.py.
cassie-simulation.joint2_placement = robot.data.oMi[joint_id] * front_placement |
Definition at line 69 of file cassie-simulation.py.
cassie-simulation.kkt_constraint = pinocchio.ContactCholeskyDecomposition(robot.model, constraint_models) |
Definition at line 138 of file cassie-simulation.py.
cassie-simulation.loadModel |
Definition at line 100 of file cassie-simulation.py.
cassie-simulation.mass = robot.data.mass[0] |
Definition at line 194 of file cassie-simulation.py.
cassie-simulation.mid_point = np.zeros(3) |
Definition at line 66 of file cassie-simulation.py.
Definition at line 180 of file cassie-simulation.py.
cassie-simulation.mid_point_pos = pinocchio.SE3(np.identity(3), mid_point) |
Definition at line 181 of file cassie-simulation.py.
cassie-simulation.model |
Definition at line 44 of file cassie-simulation.py.
string cassie-simulation.model_dir = "/local/rbudhira/devel/install/sot/share/example-robot-data/robots/" |
Definition at line 13 of file cassie-simulation.py.
int cassie-simulation.mu = 1e-4 |
Definition at line 142 of file cassie-simulation.py.
int cassie-simulation.N = 1000 |
Definition at line 140 of file cassie-simulation.py.
string cassie-simulation.name1 = "hpp-gui/cm1_" + str(j) |
Definition at line 162 of file cassie-simulation.py.
string cassie-simulation.name2 = "hpp-gui/cm2_" + str(j) |
Definition at line 163 of file cassie-simulation.py.
string cassie-simulation.package_dir = model_dir + "../../" |
Definition at line 17 of file cassie-simulation.py.
cassie-simulation.pos1 = robot.data.oMi[cm.joint1_id] * cm.joint1_placement |
Definition at line 160 of file cassie-simulation.py.
cassie-simulation.pos2 = robot.data.oMi[cm.joint2_id] * cm.joint2_placement |
Definition at line 161 of file cassie-simulation.py.
cassie-simulation.q = q0.copy() |
Definition at line 135 of file cassie-simulation.py.
cassie-simulation.q0 = robot.q0.copy() |
Definition at line 43 of file cassie-simulation.py.
cassie-simulation.q_sol = q.copy() |
Definition at line 144 of file cassie-simulation.py.
def cassie-simulation.qin = robot.q0.copy() |
Definition at line 283 of file cassie-simulation.py.
Definition at line 285 of file cassie-simulation.py.
float cassie-simulation.radius = 0.005 |
Definition at line 156 of file cassie-simulation.py.
float cassie-simulation.red_color = 1.0 * float(j) / float(len(constraint_models)) |
Definition at line 164 of file cassie-simulation.py.
cassie-simulation.referencePose |
Definition at line 44 of file cassie-simulation.py.
cassie-simulation.robot |
Definition at line 35 of file cassie-simulation.py.
string cassie-simulation.sdf_filename = model_dir + "cassie_description/robots/cassie.sdf" |
Definition at line 15 of file cassie-simulation.py.
list cassie-simulation.sdf_parent_guidance |
Definition at line 19 of file cassie-simulation.py.
cassie-simulation.srdf_path = model_dir + "cassie_description/srdf/cassie_v2.srdf" |
Definition at line 16 of file cassie-simulation.py.
float cassie-simulation.transparency = 0.5 |
Definition at line 157 of file cassie-simulation.py.
cassie-simulation.window_id = robot.viewer.gui.getWindowID("python-pinocchio") |
Definition at line 146 of file cassie-simulation.py.