kinetalos Namespace Reference

Functions
def	runner (n)

Variables
	contact = MetaTaskKine6d("contact" + name, robot.dynamic, name, joint)
int	dt = 5e-3
	handMgrip = eye(4)
tuple	initialConfig
	loadModel
dictionary	OperationalPointsMap
	opmodif
	pinocchioRobot = RobotWrapper(urdfPath, urdfDir, pin.JointModelFreeFlyer())
	robot
string	robotName = "TALOS"
	sot = SOT("sot")
tuple	target = (0.5, -0.2, 1.0)
	taskCom = MetaTaskKineCom(robot.dynamic)
	taskRH
list	urdfDir = ["/PATH/TO/talos-data"]
string	urdfPath = "/PATH/TO/talos-data/robots/talos_full_collision.urdf"
	value

Function Documentation

runner()

def kinetalos.runner

(

n

)

Definition at line 165 of file kinetalos.py.

Variable Documentation

contact

kinetalos.contact = MetaTaskKine6d("contact" + name, robot.dynamic, name, joint)

Definition at line 143 of file kinetalos.py.

dt

int kinetalos.dt = 5e-3

Definition at line 34 of file kinetalos.py.

handMgrip

kinetalos.handMgrip = eye(4)

Definition at line 127 of file kinetalos.py.

initialConfig

tuple kinetalos.initialConfig

Definition at line 47 of file kinetalos.py.

loadModel

kinetalos.loadModel

Definition at line 106 of file kinetalos.py.

OperationalPointsMap

dictionary kinetalos.OperationalPointsMap

Initial value:

=  {
    "left-wrist": "arm_left_7_joint",
    "right-wrist": "arm_right_7_joint",
    "left-ankle": "leg_left_5_joint",
    "right-ankle": "leg_right_5_joint",
    "gaze": "head_2_joint",
    "waist": "root_joint",
    "chest": "torso_2_joint",
}

Definition at line 38 of file kinetalos.py.

opmodif

kinetalos.opmodif

Definition at line 129 of file kinetalos.py.

pinocchioRobot

kinetalos.pinocchioRobot = RobotWrapper(urdfPath, urdfDir, pin.JointModelFreeFlyer())

Definition at line 104 of file kinetalos.py.

robot

kinetalos.robot

Initial value:

=  HumanoidRobot(
    robotName,
    pinocchioRobot.model,
    pinocchioRobot.data,
    initialConfig,
    OperationalPointsMap,
)

Definition at line 109 of file kinetalos.py.

robotName

string kinetalos.robotName = "TALOS"

Definition at line 37 of file kinetalos.py.

sot

kinetalos.sot = SOT("sot")

Definition at line 117 of file kinetalos.py.

target

tuple kinetalos.target = (0.5, -0.2, 1.0)

Definition at line 149 of file kinetalos.py.

taskCom

kinetalos.taskCom = MetaTaskKineCom(robot.dynamic)

Definition at line 132 of file kinetalos.py.

taskRH

kinetalos.taskRH

Initial value:

=  MetaTaskKine6d(
    "rh", robot.dynamic, "rh", robot.OperationalPointsMap["right-wrist"]
)

Definition at line 124 of file kinetalos.py.

urdfDir

list kinetalos.urdfDir = ["/PATH/TO/talos-data"]

Definition at line 36 of file kinetalos.py.

urdfPath

string kinetalos.urdfPath = "/PATH/TO/talos-data/robots/talos_full_collision.urdf"

Definition at line 35 of file kinetalos.py.

value

kinetalos.value

Definition at line 134 of file kinetalos.py.