kineromeo Namespace Reference

Functions
def	runner (n)

Variables
	contact = MetaTaskKine6d("contact" + name, dyn, name, joint)
int	dt = 5e-3
	dyn = Dynamic("dyn")
tuple	gearRatio = (0,) * 6 + (200,) * 31
	handMgrip = eye(4)
tuple	inertiaRotor = (0,) * 6 + (5e-4,) * 31
tuple	initialConfig
	loadModel
	opmodif
	pinocchioRobot = RomeoWrapper(urdfPath, urdfDir, pin.JointModelFreeFlyer())
	precision
	robot = RobotSimu(robotName)
	robotDim = dyn.getDimension()
string	robotName = "romeo"
	sot = SOT("sot")
	suppress
tuple	target = (0.5, -0.2, 1.3)
	taskCom = MetaTaskKineCom(dyn)
	taskRH = MetaTaskKine6d("rh", dyn, "rh", "RWristPitch")
	True
list	urdfDir = ["~/git/sot/pinocchio/models"]
string	urdfPath = "~/git/sot/pinocchio/models/romeo.urdf"
	value

Function Documentation

runner()

def kineromeo.runner

(

n

)

Definition at line 165 of file kineromeo.py.

Variable Documentation

contact

kineromeo.contact = MetaTaskKine6d("contact" + name, dyn, name, joint)

Definition at line 143 of file kineromeo.py.

dt

int kineromeo.dt = 5e-3

Definition at line 106 of file kineromeo.py.

dyn

kineromeo.dyn = Dynamic("dyn")

Definition at line 86 of file kineromeo.py.

gearRatio

tuple kineromeo.gearRatio = (0,) * 6 + (200,) * 31

Definition at line 94 of file kineromeo.py.

handMgrip

kineromeo.handMgrip = eye(4)

Definition at line 130 of file kineromeo.py.

inertiaRotor

tuple kineromeo.inertiaRotor = (0,) * 6 + (5e-4,) * 31

Definition at line 93 of file kineromeo.py.

initialConfig

tuple kineromeo.initialConfig

Definition at line 37 of file kineromeo.py.

loadModel

kineromeo.loadModel

Definition at line 35 of file kineromeo.py.

opmodif

kineromeo.opmodif

Definition at line 132 of file kineromeo.py.

pinocchioRobot

kineromeo.pinocchioRobot = RomeoWrapper(urdfPath, urdfDir, pin.JointModelFreeFlyer())

Definition at line 33 of file kineromeo.py.

precision

kineromeo.precision

Definition at line 22 of file kineromeo.py.

robot

kineromeo.robot = RobotSimu(robotName)

Definition at line 104 of file kineromeo.py.

robotDim

kineromeo.robotDim = dyn.getDimension()

Definition at line 92 of file kineromeo.py.

robotName

string kineromeo.robotName = "romeo"

Definition at line 34 of file kineromeo.py.

sot

kineromeo.sot = SOT("sot")

Definition at line 117 of file kineromeo.py.

suppress

kineromeo.suppress

Definition at line 22 of file kineromeo.py.

target

tuple kineromeo.target = (0.5, -0.2, 1.3)

Definition at line 149 of file kineromeo.py.

taskCom

kineromeo.taskCom = MetaTaskKineCom(dyn)

Definition at line 135 of file kineromeo.py.

taskRH

kineromeo.taskRH = MetaTaskKine6d("rh", dyn, "rh", "RWristPitch")

Definition at line 129 of file kineromeo.py.

True

kineromeo.True

Definition at line 22 of file kineromeo.py.

urdfDir

list kineromeo.urdfDir = ["~/git/sot/pinocchio/models"]

Definition at line 32 of file kineromeo.py.

urdfPath

string kineromeo.urdfPath = "~/git/sot/pinocchio/models/romeo.urdf"

Definition at line 31 of file kineromeo.py.

value

kineromeo.value

Definition at line 95 of file kineromeo.py.