examples
Namespaces
|
Functions
|
Variables
anymal-simulation.py File Reference
Go to the source code of this file.
Namespaces
anymal-simulation
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"
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:13