Variables
static-contact-dynamics Namespace Reference

Variables

 a0 = np.zeros(model.nv)
 
 acc
 
 bl_id = model.getFrameId("base_link")
 
 collision_model
 
 data = model.createData()
 
list feet_ids = [model.getFrameId(n) for n in feet_names]
 
list feet_names = ["FL_FOOT", "FR_FOOT", "HL_FOOT", "HR_FOOT"]
 
 fext__bl = pin.Force(ls__bl[joint_ids.index(joint.id)])
 
list fs_ext = [pin.Force(np.zeros(6)) for _ in range(len(model.joints))]
 
 g_bl = g_grav[:6]
 
 g_grav = pin.rnea(model, data, q0, v0, a0)
 
 g_j = g_grav[6:]
 
 Jc__feet_bl_T = np.zeros([6, 3 * ncontact])
 
 Jc__feet_j_T = np.zeros([12, 3 * ncontact])
 
list joint_ids = [model.getJointId(n) for n in joint_names]
 
list joint_names = ["FL_KFE", "FR_KFE", "HL_KFE", "HR_KFE"]
 
list Js__feet_bl = [np.copy(J[:3, :6]) for J in Js__feet_q]
 
list Js__feet_q
 
list Js_feet3d_q = [np.copy(J[:3, :]) for J in Js__feet_q]
 
list Js_feet_j = [np.copy(J[:3, 6:]) for J in Js__feet_q]
 
 l_sp__bl = data.oMf[bl_id].actInv(data.oMf[foot_id].act(l_sp__f))
 
 l_sp__f = pin.Force(l__f, np.zeros(3))
 
 linewidth
 
 ls = np.linalg.pinv(Jc__feet_bl_T) @ g_bl
 
list ls__bl = []
 
 ls__f = np.split(ls, ncontact)
 
string mesh_dir = pinocchio_model_dir
 
 model
 
string model_path = pinocchio_model_dir / "example-robot-data/robots"
 
 ncontact = len(feet_names)
 
string pinocchio_model_dir = Path(__file__).parent.parent / "models"
 
 q0
 
 tau = g_j - Jc__feet_j_T @ ls
 
 tau_rnea = pin.rnea(model, data, q0, v0, a0, fs_ext)
 
string urdf_filename = "solo12.urdf"
 
string urdf_model_path = model_path / "solo_description/robots" / urdf_filename
 
 v0 = np.zeros(model.nv)
 
 visual_model
 

Variable Documentation

◆ a0

static-contact-dynamics.a0 = np.zeros(model.nv)

Definition at line 91 of file static-contact-dynamics.py.

◆ acc

static-contact-dynamics.acc
Initial value:
1 = pin.forwardDynamics(
2  model,
3  data,
4  q0,
5  v0,
6  np.append(np.zeros(6), tau),
7  np.vstack(Js_feet3d_q),
8  np.zeros(12),
9 )

Definition at line 187 of file static-contact-dynamics.py.

◆ bl_id

static-contact-dynamics.bl_id = model.getFrameId("base_link")

Definition at line 108 of file static-contact-dynamics.py.

◆ collision_model

static-contact-dynamics.collision_model

Definition at line 62 of file static-contact-dynamics.py.

◆ data

static-contact-dynamics.data = model.createData()

Definition at line 65 of file static-contact-dynamics.py.

◆ feet_ids

list static-contact-dynamics.feet_ids = [model.getFrameId(n) for n in feet_names]

Definition at line 107 of file static-contact-dynamics.py.

◆ feet_names

list static-contact-dynamics.feet_names = ["FL_FOOT", "FR_FOOT", "HL_FOOT", "HR_FOOT"]

Definition at line 106 of file static-contact-dynamics.py.

◆ fext__bl

static-contact-dynamics.fext__bl = pin.Force(ls__bl[joint_ids.index(joint.id)])

Definition at line 173 of file static-contact-dynamics.py.

◆ fs_ext

list static-contact-dynamics.fs_ext = [pin.Force(np.zeros(6)) for _ in range(len(model.joints))]

Definition at line 170 of file static-contact-dynamics.py.

◆ g_bl

static-contact-dynamics.g_bl = g_grav[:6]

Definition at line 99 of file static-contact-dynamics.py.

◆ g_grav

static-contact-dynamics.g_grav = pin.rnea(model, data, q0, v0, a0)

Definition at line 97 of file static-contact-dynamics.py.

◆ g_j

static-contact-dynamics.g_j = g_grav[6:]

Definition at line 100 of file static-contact-dynamics.py.

◆ Jc__feet_bl_T

static-contact-dynamics.Jc__feet_bl_T = np.zeros([6, 3 * ncontact])

Definition at line 121 of file static-contact-dynamics.py.

◆ Jc__feet_j_T

static-contact-dynamics.Jc__feet_j_T = np.zeros([12, 3 * ncontact])

Definition at line 154 of file static-contact-dynamics.py.

◆ joint_ids

list static-contact-dynamics.joint_ids = [model.getJointId(n) for n in joint_names]

Definition at line 168 of file static-contact-dynamics.py.

◆ joint_names

list static-contact-dynamics.joint_names = ["FL_KFE", "FR_KFE", "HL_KFE", "HR_KFE"]

Definition at line 167 of file static-contact-dynamics.py.

◆ Js__feet_bl

list static-contact-dynamics.Js__feet_bl = [np.copy(J[:3, :6]) for J in Js__feet_q]

Definition at line 117 of file static-contact-dynamics.py.

◆ Js__feet_q

list static-contact-dynamics.Js__feet_q
Initial value:
1 = [
2  np.copy(pin.computeFrameJacobian(model, data, q0, id, pin.LOCAL)) for id in feet_ids
3 ]

Definition at line 113 of file static-contact-dynamics.py.

◆ Js_feet3d_q

list static-contact-dynamics.Js_feet3d_q = [np.copy(J[:3, :]) for J in Js__feet_q]

Definition at line 186 of file static-contact-dynamics.py.

◆ Js_feet_j

list static-contact-dynamics.Js_feet_j = [np.copy(J[:3, 6:]) for J in Js__feet_q]

Definition at line 152 of file static-contact-dynamics.py.

◆ l_sp__bl

static-contact-dynamics.l_sp__bl = data.oMf[bl_id].actInv(data.oMf[foot_id].act(l_sp__f))

Definition at line 137 of file static-contact-dynamics.py.

◆ l_sp__f

static-contact-dynamics.l_sp__f = pin.Force(l__f, np.zeros(3))

Definition at line 136 of file static-contact-dynamics.py.

◆ linewidth

static-contact-dynamics.linewidth

Definition at line 6 of file static-contact-dynamics.py.

◆ ls

static-contact-dynamics.ls = np.linalg.pinv(Jc__feet_bl_T) @ g_bl

Definition at line 126 of file static-contact-dynamics.py.

◆ ls__bl

list static-contact-dynamics.ls__bl = []

Definition at line 134 of file static-contact-dynamics.py.

◆ ls__f

static-contact-dynamics.ls__f = np.split(ls, ncontact)

Definition at line 129 of file static-contact-dynamics.py.

◆ mesh_dir

string static-contact-dynamics.mesh_dir = pinocchio_model_dir

Definition at line 58 of file static-contact-dynamics.py.

◆ model

static-contact-dynamics.model

Definition at line 62 of file static-contact-dynamics.py.

◆ model_path

string static-contact-dynamics.model_path = pinocchio_model_dir / "example-robot-data/robots"

Definition at line 57 of file static-contact-dynamics.py.

◆ ncontact

static-contact-dynamics.ncontact = len(feet_names)

Definition at line 109 of file static-contact-dynamics.py.

◆ pinocchio_model_dir

string static-contact-dynamics.pinocchio_model_dir = Path(__file__).parent.parent / "models"

Definition at line 55 of file static-contact-dynamics.py.

◆ q0

static-contact-dynamics.q0
Initial value:
1 = np.array(
2  [
3  0.0,
4  0.0,
5  0.235,
6  0.0,
7  0.0,
8  0.0,
9  1.0,
10  0.0,
11  0.8,
12  -1.6,
13  0.0,
14  -0.8,
15  1.6,
16  0.0,
17  0.8,
18  -1.6,
19  0.0,
20  -0.8,
21  1.6,
22  ]
23 )

Definition at line 67 of file static-contact-dynamics.py.

◆ tau

static-contact-dynamics.tau = g_j - Jc__feet_j_T @ ls

Definition at line 158 of file static-contact-dynamics.py.

◆ tau_rnea

static-contact-dynamics.tau_rnea = pin.rnea(model, data, q0, v0, a0, fs_ext)

Definition at line 176 of file static-contact-dynamics.py.

◆ urdf_filename

string static-contact-dynamics.urdf_filename = "solo12.urdf"

Definition at line 59 of file static-contact-dynamics.py.

◆ urdf_model_path

string static-contact-dynamics.urdf_model_path = model_path / "solo_description/robots" / urdf_filename

Definition at line 60 of file static-contact-dynamics.py.

◆ v0

static-contact-dynamics.v0 = np.zeros(model.nv)

Definition at line 90 of file static-contact-dynamics.py.

◆ visual_model

static-contact-dynamics.visual_model

Definition at line 62 of file static-contact-dynamics.py.


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