|
| float | cassie-simulation.axis_size = 0.08 |
| |
| | cassie-simulation.back_placement = pinocchio.SE3(np.identity(3), np.array([0.03, -0.0, 0.0])) |
| |
| | cassie-simulation.com_base = robot.data.com[0].copy() |
| |
| float | cassie-simulation.com_drop_amp = 0.1 |
| |
| | cassie-simulation.constraint_datas = pinocchio.StdVec_RigidConstraintData() |
| |
| | cassie-simulation.constraint_dim = sum([cm.size() for cm in constraint_models]) |
| |
| | cassie-simulation.constraint_models = robot.constraint_models |
| |
| | cassie-simulation.contact_model_lf1 |
| |
| | cassie-simulation.contact_model_lf2 |
| |
| | cassie-simulation.data = pinocchio.Data(robot.model) |
| |
| int | cassie-simulation.eps = 1e-6 |
| |
| list | cassie-simulation.foot_joint_ids = [robot.model.getJointId(joint_name) for joint_name in foot_joints] |
| |
| list | cassie-simulation.foot_joints = ["left-plantar-foot-joint", "right-plantar-foot-joint"] |
| |
| | cassie-simulation.foot_length = np.linalg.norm(front_placement.translation - back_placement.translation) |
| |
| | cassie-simulation.front_placement = pinocchio.SE3(np.identity(3), np.array([-0.1, 0.11, 0.0])) |
| |
| | cassie-simulation.gui = robot.viewer.gui |
| |
| | cassie-simulation.joint2_placement = robot.data.oMi[joint_id] * front_placement |
| |
| | cassie-simulation.kkt_constraint = pinocchio.ContactCholeskyDecomposition(robot.model, constraint_models) |
| |
| | cassie-simulation.mass = robot.data.mass[0] |
| |
| | cassie-simulation.mid_point = np.zeros(3) |
| |
| string | cassie-simulation.mid_point_name = "hpp-gui/mid_point" |
| |
| | cassie-simulation.mid_point_pos = pinocchio.SE3(np.identity(3), mid_point) |
| |
| int | cassie-simulation.mu = 1e-4 |
| |
| int | cassie-simulation.N = 1000 |
| |
| string | cassie-simulation.name1 = "hpp-gui/cm1_" + str(j) |
| |
| string | cassie-simulation.name2 = "hpp-gui/cm2_" + str(j) |
| |
| | cassie-simulation.pos1 = robot.data.oMi[cm.joint1_id] * cm.joint1_placement |
| |
| | cassie-simulation.pos2 = robot.data.oMi[cm.joint2_id] * cm.joint2_placement |
| |
| | cassie-simulation.q = q0.copy() |
| |
| | cassie-simulation.q0 = robot.q0.copy() |
| |
| | cassie-simulation.q_sol = q.copy() |
| |
| | cassie-simulation.qin = robot.q0.copy() |
| |
| def | cassie-simulation.qout = squashing(robot.model, data, qin) |
| |
| float | cassie-simulation.radius = 0.005 |
| |
| float | cassie-simulation.red_color = 1.0 * float(j) / float(len(constraint_models)) |
| |
| | cassie-simulation.robot = example_robot_data.load("cassie") |
| |
| float | cassie-simulation.transparency = 0.5 |
| |
| | cassie-simulation.window_id = robot.viewer.gui.getWindowID("python-pinocchio") |
| |