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