pinocchio: anymal-simulation.py File Reference

Functions
def	anymal-simulation.squashing (model, data, q_in)

Variables
list	anymal-simulation.constraint_datas = [cm.createData() for cm in constraint_models]

	anymal-simulation.constraint_dim = sum([cm.size() for cm in constraint_models])

list	anymal-simulation.constraint_models = []

	anymal-simulation.contact_model_lf1

	anymal-simulation.data = robot.data

int	anymal-simulation.eps = 1e-10

list	anymal-simulation.foot_frame_ids = [robot.model.getFrameId(frame_name) for frame_name in foot_frames]

list	anymal-simulation.foot_frames = [lfFoot, rfFoot, lhFoot, rhFoot]

list	anymal-simulation.foot_joint_ids

	anymal-simulation.kkt_constraint = pinocchio.ContactCholeskyDecomposition(model, constraint_models)

	anymal-simulation.lfFoot

	anymal-simulation.lhFoot

	anymal-simulation.mass = data.mass[0]

	anymal-simulation.model = robot.model

float	anymal-simulation.mu = 0.0

int	anymal-simulation.N = 100000

	anymal-simulation.q = robot.q0.copy()

	anymal-simulation.q0

def	anymal-simulation.q_new = squashing(model, data, robot.q0)

	anymal-simulation.q_sol = q.copy()

	anymal-simulation.rfFoot

	anymal-simulation.rhFoot

	anymal-simulation.robot = load("anymal")

string	anymal-simulation.state_name = "standing"

Namespaces