Variables
simulation-closed-kinematic-chains Namespace Reference

Variables

 a
 
float alpha = 1.0
 
int base_joint_id = 0
 
 collision_model = pin.GeometryModel()
 
 constraint1_joint1_placement = pin.SE3.Identity()
 
 constraint1_joint2_placement = pin.SE3.Identity()
 
 constraint_data = constraint_model.createData()
 
 constraint_dim = constraint_model.size()
 
 constraint_model
 
 constraint_value = constraint_data.c1Mc2.translation
 
 data = model.createData()
 
 dq = dz[constraint_dim:]
 
int dt = 5e-3
 
 dual_feas = np.linalg.norm(J.T.dot(constraint_value + y), np.inf)
 
 dy = dz[:constraint_dim]
 
 dz = kkt_constraint.solve(rhs)
 
int eps = 1e-10
 
 geom_obj0
 
 geom_obj1 = pin.GeometryObject("link_B1", joint1_id, placement_shape_B, shape_link_B)
 
 geom_obj2 = pin.GeometryObject("link_A2", joint2_id, placement_shape_A, shape_link_A)
 
 geom_obj3 = pin.GeometryObject("link_B2", joint3_id, placement_shape_B, shape_link_B)
 
float height = 0.1
 
 inertia_link_A = pin.Inertia.FromBox(mass_link_A, length_link_A, width, height)
 
 inertia_link_B = pin.Inertia.FromBox(mass_link_B, length_link_B, width, height)
 
 J
 
 joint1_id
 
 joint1_placement = pin.SE3.Identity()
 
 joint2_id = model.addJoint(joint1_id, pin.JointModelRY(), joint2_placement, "link_A2")
 
 joint2_placement = pin.SE3.Identity()
 
 joint3_id = model.addJoint(joint2_id, pin.JointModelRY(), joint3_placement, "link_B2")
 
 joint3_placement = pin.SE3.Identity()
 
 kkt_constraint = pin.ContactCholeskyDecomposition(model, [constraint_model])
 
float length_link_A = 1.0
 
float length_link_B = 0.6
 
 M
 
float mass_link_A = 10.0
 
float mass_link_B = 5.0
 
 meshColor
 
 model = pin.Model()
 
int mu = 1e-4
 
int mu_sim = 1e-10
 
int N = 100
 
 open
 
 placement_center_link_A = pin.SE3.Identity()
 
 placement_center_link_B = pin.SE3.Identity()
 
 placement_shape_A = placement_center_link_A.copy()
 
 placement_shape_B = placement_center_link_B.copy()
 
 primal_feas = np.linalg.norm(constraint_value, np.inf)
 
 prox_settings = pin.ProximalSettings(1e-8, mu_sim, 10)
 
 q = q0.copy()
 
 q0 = pin.neutral(model)
 
tuple q_sol = (q[:] + np.pi) % np.pi - np.pi
 
float radius = 0.05
 
 RED_COLOR = np.array([1.0, 0.0, 0.0, 1.0])
 
int rho = 1e-10
 
 rhs = np.concatenate([-constraint_value - y * mu, np.zeros(model.nv)])
 
 rotation
 
 shape_link_A = fcl.Capsule(radius, length_link_A)
 
 shape_link_B = fcl.Capsule(radius, length_link_B)
 
int t = 0
 
int T_sim = 100000
 
 tau = np.zeros(model.nv)
 
 translation
 
 v = np.zeros(model.nv)
 
 visual_model = collision_model
 
 viz = MeshcatVisualizer(model, collision_model, visual_model)
 
 WHITE_COLOR = np.array([1.0, 1.0, 1.0, 1.0])
 
float width = 0.01
 
 y = np.ones(constraint_dim)
 

Variable Documentation

◆ a

simulation-closed-kinematic-chains.a
Initial value:
1 = pin.constraintDynamics(
2  model, data, q, v, tau, [constraint_model], [constraint_data], prox_settings
3  )

Definition at line 166 of file simulation-closed-kinematic-chains.py.

◆ alpha

float simulation-closed-kinematic-chains.alpha = 1.0

Definition at line 144 of file simulation-closed-kinematic-chains.py.

◆ base_joint_id

int simulation-closed-kinematic-chains.base_joint_id = 0

Definition at line 44 of file simulation-closed-kinematic-chains.py.

◆ collision_model

simulation-closed-kinematic-chains.collision_model = pin.GeometryModel()

Definition at line 39 of file simulation-closed-kinematic-chains.py.

◆ constraint1_joint1_placement

simulation-closed-kinematic-chains.constraint1_joint1_placement = pin.SE3.Identity()

Definition at line 92 of file simulation-closed-kinematic-chains.py.

◆ constraint1_joint2_placement

simulation-closed-kinematic-chains.constraint1_joint2_placement = pin.SE3.Identity()

Definition at line 95 of file simulation-closed-kinematic-chains.py.

◆ constraint_data

simulation-closed-kinematic-chains.constraint_data = constraint_model.createData()

Definition at line 106 of file simulation-closed-kinematic-chains.py.

◆ constraint_dim

simulation-closed-kinematic-chains.constraint_dim = constraint_model.size()

Definition at line 107 of file simulation-closed-kinematic-chains.py.

◆ constraint_model

simulation-closed-kinematic-chains.constraint_model
Initial value:
1 = pin.RigidConstraintModel(
2  pin.ContactType.CONTACT_3D,
3  model,
4  joint3_id,
5  constraint1_joint1_placement,
6  base_joint_id,
7  constraint1_joint2_placement,
8 )

Definition at line 98 of file simulation-closed-kinematic-chains.py.

◆ constraint_value

simulation-closed-kinematic-chains.constraint_value = constraint_data.c1Mc2.translation

Definition at line 123 of file simulation-closed-kinematic-chains.py.

◆ data

simulation-closed-kinematic-chains.data = model.createData()

Definition at line 88 of file simulation-closed-kinematic-chains.py.

◆ dq

simulation-closed-kinematic-chains.dq = dz[constraint_dim:]

Definition at line 142 of file simulation-closed-kinematic-chains.py.

◆ dt

int simulation-closed-kinematic-chains.dt = 5e-3

Definition at line 155 of file simulation-closed-kinematic-chains.py.

◆ dual_feas

simulation-closed-kinematic-chains.dual_feas = np.linalg.norm(J.T.dot(constraint_value + y), np.inf)

Definition at line 133 of file simulation-closed-kinematic-chains.py.

◆ dy

simulation-closed-kinematic-chains.dy = dz[:constraint_dim]

Definition at line 141 of file simulation-closed-kinematic-chains.py.

◆ dz

simulation-closed-kinematic-chains.dz = kkt_constraint.solve(rhs)

Definition at line 140 of file simulation-closed-kinematic-chains.py.

◆ eps

int simulation-closed-kinematic-chains.eps = 1e-10

Definition at line 118 of file simulation-closed-kinematic-chains.py.

◆ geom_obj0

simulation-closed-kinematic-chains.geom_obj0
Initial value:
1 = pin.GeometryObject(
2  "link_A1",
3  base_joint_id,
4  pin.SE3(pin.Quaternion.FromTwoVectors(pin.ZAxis, pin.XAxis).matrix(), np.zeros(3)),
5  shape_link_A,
6 )

Definition at line 45 of file simulation-closed-kinematic-chains.py.

◆ geom_obj1

simulation-closed-kinematic-chains.geom_obj1 = pin.GeometryObject("link_B1", joint1_id, placement_shape_B, shape_link_B)

Definition at line 60 of file simulation-closed-kinematic-chains.py.

◆ geom_obj2

simulation-closed-kinematic-chains.geom_obj2 = pin.GeometryObject("link_A2", joint2_id, placement_shape_A, shape_link_A)

Definition at line 68 of file simulation-closed-kinematic-chains.py.

◆ geom_obj3

simulation-closed-kinematic-chains.geom_obj3 = pin.GeometryObject("link_B2", joint3_id, placement_shape_B, shape_link_B)

Definition at line 76 of file simulation-closed-kinematic-chains.py.

◆ height

float simulation-closed-kinematic-chains.height = 0.1

Definition at line 10 of file simulation-closed-kinematic-chains.py.

◆ inertia_link_A

simulation-closed-kinematic-chains.inertia_link_A = pin.Inertia.FromBox(mass_link_A, length_link_A, width, height)

Definition at line 22 of file simulation-closed-kinematic-chains.py.

◆ inertia_link_B

simulation-closed-kinematic-chains.inertia_link_B = pin.Inertia.FromBox(mass_link_B, length_link_B, width, height)

Definition at line 30 of file simulation-closed-kinematic-chains.py.

◆ J

simulation-closed-kinematic-chains.J
Initial value:
1 = pin.getFrameJacobian(
2  model,
3  data,
4  constraint_model.joint1_id,
5  constraint_model.joint1_placement,
6  constraint_model.reference_frame,
7  )[:3, :]

Definition at line 125 of file simulation-closed-kinematic-chains.py.

◆ joint1_id

simulation-closed-kinematic-chains.joint1_id
Initial value:
1 = model.addJoint(
2  base_joint_id, pin.JointModelRY(), joint1_placement, "link_B1"
3 )

Definition at line 56 of file simulation-closed-kinematic-chains.py.

◆ joint1_placement

simulation-closed-kinematic-chains.joint1_placement = pin.SE3.Identity()

Definition at line 54 of file simulation-closed-kinematic-chains.py.

◆ joint2_id

simulation-closed-kinematic-chains.joint2_id = model.addJoint(joint1_id, pin.JointModelRY(), joint2_placement, "link_A2")

Definition at line 66 of file simulation-closed-kinematic-chains.py.

◆ joint2_placement

simulation-closed-kinematic-chains.joint2_placement = pin.SE3.Identity()

Definition at line 64 of file simulation-closed-kinematic-chains.py.

◆ joint3_id

simulation-closed-kinematic-chains.joint3_id = model.addJoint(joint2_id, pin.JointModelRY(), joint3_placement, "link_B2")

Definition at line 74 of file simulation-closed-kinematic-chains.py.

◆ joint3_placement

simulation-closed-kinematic-chains.joint3_placement = pin.SE3.Identity()

Definition at line 72 of file simulation-closed-kinematic-chains.py.

◆ kkt_constraint

simulation-closed-kinematic-chains.kkt_constraint = pin.ContactCholeskyDecomposition(model, [constraint_model])

Definition at line 117 of file simulation-closed-kinematic-chains.py.

◆ length_link_A

float simulation-closed-kinematic-chains.length_link_A = 1.0

Definition at line 15 of file simulation-closed-kinematic-chains.py.

◆ length_link_B

float simulation-closed-kinematic-chains.length_link_B = 0.6

Definition at line 19 of file simulation-closed-kinematic-chains.py.

◆ M

simulation-closed-kinematic-chains.M

Definition at line 116 of file simulation-closed-kinematic-chains.py.

◆ mass_link_A

float simulation-closed-kinematic-chains.mass_link_A = 10.0

Definition at line 14 of file simulation-closed-kinematic-chains.py.

◆ mass_link_B

float simulation-closed-kinematic-chains.mass_link_B = 5.0

Definition at line 18 of file simulation-closed-kinematic-chains.py.

◆ meshColor

simulation-closed-kinematic-chains.meshColor

Definition at line 51 of file simulation-closed-kinematic-chains.py.

◆ model

simulation-closed-kinematic-chains.model = pin.Model()

Definition at line 38 of file simulation-closed-kinematic-chains.py.

◆ mu

int simulation-closed-kinematic-chains.mu = 1e-4

Definition at line 111 of file simulation-closed-kinematic-chains.py.

◆ mu_sim

int simulation-closed-kinematic-chains.mu_sim = 1e-10

Definition at line 159 of file simulation-closed-kinematic-chains.py.

◆ N

int simulation-closed-kinematic-chains.N = 100

Definition at line 119 of file simulation-closed-kinematic-chains.py.

◆ open

simulation-closed-kinematic-chains.open

Definition at line 82 of file simulation-closed-kinematic-chains.py.

◆ placement_center_link_A

simulation-closed-kinematic-chains.placement_center_link_A = pin.SE3.Identity()

Definition at line 23 of file simulation-closed-kinematic-chains.py.

◆ placement_center_link_B

simulation-closed-kinematic-chains.placement_center_link_B = pin.SE3.Identity()

Definition at line 31 of file simulation-closed-kinematic-chains.py.

◆ placement_shape_A

simulation-closed-kinematic-chains.placement_shape_A = placement_center_link_A.copy()

Definition at line 25 of file simulation-closed-kinematic-chains.py.

◆ placement_shape_B

simulation-closed-kinematic-chains.placement_shape_B = placement_center_link_B.copy()

Definition at line 33 of file simulation-closed-kinematic-chains.py.

◆ primal_feas

simulation-closed-kinematic-chains.primal_feas = np.linalg.norm(constraint_value, np.inf)

Definition at line 132 of file simulation-closed-kinematic-chains.py.

◆ prox_settings

simulation-closed-kinematic-chains.prox_settings = pin.ProximalSettings(1e-8, mu_sim, 10)

Definition at line 163 of file simulation-closed-kinematic-chains.py.

◆ q

tuple simulation-closed-kinematic-chains.q = q0.copy()

Definition at line 113 of file simulation-closed-kinematic-chains.py.

◆ q0

simulation-closed-kinematic-chains.q0 = pin.neutral(model)

Definition at line 85 of file simulation-closed-kinematic-chains.py.

◆ q_sol

tuple simulation-closed-kinematic-chains.q_sol = (q[:] + np.pi) % np.pi - np.pi

Definition at line 148 of file simulation-closed-kinematic-chains.py.

◆ radius

float simulation-closed-kinematic-chains.radius = 0.05

Definition at line 12 of file simulation-closed-kinematic-chains.py.

◆ RED_COLOR

simulation-closed-kinematic-chains.RED_COLOR = np.array([1.0, 0.0, 0.0, 1.0])

Definition at line 41 of file simulation-closed-kinematic-chains.py.

◆ rho

int simulation-closed-kinematic-chains.rho = 1e-10

Definition at line 110 of file simulation-closed-kinematic-chains.py.

◆ rhs

simulation-closed-kinematic-chains.rhs = np.concatenate([-constraint_value - y * mu, np.zeros(model.nv)])

Definition at line 138 of file simulation-closed-kinematic-chains.py.

◆ rotation

simulation-closed-kinematic-chains.rotation

Definition at line 26 of file simulation-closed-kinematic-chains.py.

◆ shape_link_A

simulation-closed-kinematic-chains.shape_link_A = fcl.Capsule(radius, length_link_A)

Definition at line 16 of file simulation-closed-kinematic-chains.py.

◆ shape_link_B

simulation-closed-kinematic-chains.shape_link_B = fcl.Capsule(radius, length_link_B)

Definition at line 20 of file simulation-closed-kinematic-chains.py.

◆ t

int simulation-closed-kinematic-chains.t = 0

Definition at line 158 of file simulation-closed-kinematic-chains.py.

◆ T_sim

int simulation-closed-kinematic-chains.T_sim = 100000

Definition at line 157 of file simulation-closed-kinematic-chains.py.

◆ tau

simulation-closed-kinematic-chains.tau = np.zeros(model.nv)

Definition at line 154 of file simulation-closed-kinematic-chains.py.

◆ translation

simulation-closed-kinematic-chains.translation

Definition at line 24 of file simulation-closed-kinematic-chains.py.

◆ v

simulation-closed-kinematic-chains.v = np.zeros(model.nv)

Definition at line 153 of file simulation-closed-kinematic-chains.py.

◆ visual_model

simulation-closed-kinematic-chains.visual_model = collision_model

Definition at line 80 of file simulation-closed-kinematic-chains.py.

◆ viz

simulation-closed-kinematic-chains.viz = MeshcatVisualizer(model, collision_model, visual_model)

Definition at line 81 of file simulation-closed-kinematic-chains.py.

◆ WHITE_COLOR

simulation-closed-kinematic-chains.WHITE_COLOR = np.array([1.0, 1.0, 1.0, 1.0])

Definition at line 42 of file simulation-closed-kinematic-chains.py.

◆ width

float simulation-closed-kinematic-chains.width = 0.01

Definition at line 11 of file simulation-closed-kinematic-chains.py.

◆ y

simulation-closed-kinematic-chains.y = np.ones(constraint_dim)

Definition at line 115 of file simulation-closed-kinematic-chains.py.


pinocchio
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autogenerated on Sun Dec 22 2024 03:41:16