talos-simulation.py File Reference

Go to the source code of this file.

Namespaces
	talos-simulation

Functions
def	talos-simulation.squashing (model, data, q_in)

Variables
list	talos-simulation.constraint_datas = [cm.createData() for cm in constraint_models]
	talos-simulation.constraint_dim = sum([cm.size() for cm in constraint_models])
list	talos-simulation.constraint_models = []
	talos-simulation.contact_model_lf1
	talos-simulation.data = robot.data
int	talos-simulation.eps = 1e-10
list	talos-simulation.foot_frame_ids = [robot.model.getFrameId(frame_name) for frame_name in foot_frames]
list	talos-simulation.foot_frames = [lfFoot, rfFoot, lhFoot, rhFoot]
list	talos-simulation.foot_joint_ids
	talos-simulation.gui = robot.viewer.gui
	talos-simulation.joint2_placement
	talos-simulation.kkt_constraint = pinocchio.ContactCholeskyDecomposition(model, constraint_models)
	talos-simulation.lfFoot
	talos-simulation.lhFoot
	talos-simulation.mass = data.mass[0]
	talos-simulation.model = robot.model
int	talos-simulation.mu = 1e-8
int	talos-simulation.N = 100000
	talos-simulation.q = robot.q0.copy()
	talos-simulation.q0
def	talos-simulation.q_new = squashing(model, data, robot.q0)
	talos-simulation.q_sol = q.copy()
	talos-simulation.rfFoot
	talos-simulation.rhFoot
	talos-simulation.robot = example_robot_data.load("talos")
string	talos-simulation.state_name = "half_sitting"
	talos-simulation.window_id = robot.viewer.gui.getWindowID("python-pinocchio")