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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")
pinocchio
Author(s):
autogenerated on Wed Apr 16 2025 02:41:53