tsid_biped.TsidBiped Class Reference

Public Member Functions
def	__init__ (self, conf, viewer=pin.visualize.MeshcatVisualizer)
def	add_contact_LF (self, transition_time=0.0)
def	add_contact_RF (self, transition_time=0.0)
def	display (self, q)
def	get_LF_3d_pos_vel_acc (self, dv)
def	get_placement_LF (self)
def	get_placement_RF (self)
def	get_RF_3d_pos_vel_acc (self, dv)
def	integrate_dv (self, q, v, dv, dt)
def	remove_contact_LF (self, transition_time=0.0)
def	remove_contact_RF (self, transition_time=0.0)
def	set_com_ref (self, pos, vel, acc)
def	set_LF_3d_ref (self, pos, vel, acc)
def	set_RF_3d_ref (self, pos, vel, acc)

Public Attributes
	actuationBoundsTask
	amTask
	comTask
	conf
	contact_LF_active
	contact_RF_active
	contactLF
	contactRF
	copTask
	formulation
	gui
	jointBoundsTask
	leftFootTask
	LF
	model
	postureTask
	q
	q0
	RF
	rightFootTask
	robot
	robot_display
	sample_com
	sample_LF_acc
	sample_LF_pos
	sample_LF_vel
	sample_RF_acc
	sample_RF_pos
	sample_RF_vel
	sampleLF
	sampleRF
	solver
	tau_max
	tau_min
	trajCom
	trajLF
	trajPosture
	trajRF
	v
	v_max
	v_min
	viz

Detailed Description

Standard TSID formulation for a biped robot standing on its rectangular feet.
- Center of mass task
- Postural task
- 6d rigid contact constraint for both feet
- Regularization task for contact forces

Definition at line 11 of file tsid_biped.py.

Constructor & Destructor Documentation

__init__()

def tsid_biped.TsidBiped.__init__	(		self,
			conf,
			viewer = pin.visualize.MeshcatVisualizer
	)

Definition at line 19 of file tsid_biped.py.

Member Function Documentation

add_contact_LF()

def tsid_biped.TsidBiped.add_contact_LF	(		self,
			transition_time = 0.0
	)

Definition at line 291 of file tsid_biped.py.

add_contact_RF()

def tsid_biped.TsidBiped.add_contact_RF	(		self,
			transition_time = 0.0
	)

Definition at line 279 of file tsid_biped.py.

display()

def tsid_biped.TsidBiped.display	(		self,
			q
	)

Definition at line 209 of file tsid_biped.py.

get_LF_3d_pos_vel_acc()

def tsid_biped.TsidBiped.get_LF_3d_pos_vel_acc	(		self,
			dv
	)

Definition at line 249 of file tsid_biped.py.

get_placement_LF()

def tsid_biped.TsidBiped.get_placement_LF

(

self

)

Definition at line 219 of file tsid_biped.py.

get_placement_RF()

def tsid_biped.TsidBiped.get_placement_RF

(

self

)

Definition at line 222 of file tsid_biped.py.

get_RF_3d_pos_vel_acc()

def tsid_biped.TsidBiped.get_RF_3d_pos_vel_acc	(		self,
			dv
	)

Definition at line 256 of file tsid_biped.py.

integrate_dv()

def tsid_biped.TsidBiped.integrate_dv	(		self,
			q,
			v,
			dv,
			dt
	)

Definition at line 213 of file tsid_biped.py.

remove_contact_LF()

def tsid_biped.TsidBiped.remove_contact_LF	(		self,
			transition_time = 0.0
	)

Definition at line 271 of file tsid_biped.py.

remove_contact_RF()

def tsid_biped.TsidBiped.remove_contact_RF	(		self,
			transition_time = 0.0
	)

Definition at line 263 of file tsid_biped.py.

set_com_ref()

def tsid_biped.TsidBiped.set_com_ref	(		self,
			pos,
			vel,
			acc
	)

Definition at line 225 of file tsid_biped.py.

set_LF_3d_ref()

def tsid_biped.TsidBiped.set_LF_3d_ref	(		self,
			pos,
			vel,
			acc
	)

Definition at line 240 of file tsid_biped.py.

set_RF_3d_ref()

def tsid_biped.TsidBiped.set_RF_3d_ref	(		self,
			pos,
			vel,
			acc
	)

Definition at line 231 of file tsid_biped.py.

Member Data Documentation

actuationBoundsTask

tsid_biped.TsidBiped.actuationBoundsTask

Definition at line 166 of file tsid_biped.py.

amTask

tsid_biped.TsidBiped.amTask

Definition at line 162 of file tsid_biped.py.

comTask

tsid_biped.TsidBiped.comTask

Definition at line 160 of file tsid_biped.py.

conf

tsid_biped.TsidBiped.conf

Definition at line 20 of file tsid_biped.py.

contact_LF_active

tsid_biped.TsidBiped.contact_LF_active

Definition at line 172 of file tsid_biped.py.

contact_RF_active

tsid_biped.TsidBiped.contact_RF_active

Definition at line 173 of file tsid_biped.py.

contactLF

tsid_biped.TsidBiped.contactLF

Definition at line 165 of file tsid_biped.py.

contactRF

tsid_biped.TsidBiped.contactRF

Definition at line 164 of file tsid_biped.py.

copTask

tsid_biped.TsidBiped.copTask

Definition at line 161 of file tsid_biped.py.

formulation

tsid_biped.TsidBiped.formulation

Definition at line 168 of file tsid_biped.py.

gui

tsid_biped.TsidBiped.gui

Definition at line 196 of file tsid_biped.py.

jointBoundsTask

tsid_biped.TsidBiped.jointBoundsTask

Definition at line 167 of file tsid_biped.py.

leftFootTask

tsid_biped.TsidBiped.leftFootTask

Definition at line 107 of file tsid_biped.py.

LF

tsid_biped.TsidBiped.LF

Definition at line 78 of file tsid_biped.py.

model

tsid_biped.TsidBiped.model

Definition at line 25 of file tsid_biped.py.

postureTask

tsid_biped.TsidBiped.postureTask

Definition at line 163 of file tsid_biped.py.

q

tsid_biped.TsidBiped.q

Definition at line 169 of file tsid_biped.py.

q0

tsid_biped.TsidBiped.q0

Definition at line 27 of file tsid_biped.py.

RF

tsid_biped.TsidBiped.RF

Definition at line 52 of file tsid_biped.py.

rightFootTask

tsid_biped.TsidBiped.rightFootTask

Definition at line 115 of file tsid_biped.py.

robot

tsid_biped.TsidBiped.robot

Definition at line 21 of file tsid_biped.py.

robot_display

tsid_biped.TsidBiped.robot_display

Definition at line 176 of file tsid_biped.py.

sample_com

tsid_biped.TsidBiped.sample_com

Definition at line 141 of file tsid_biped.py.

sample_LF_acc

tsid_biped.TsidBiped.sample_LF_acc

Definition at line 150 of file tsid_biped.py.

sample_LF_pos

tsid_biped.TsidBiped.sample_LF_pos

Definition at line 148 of file tsid_biped.py.

sample_LF_vel

tsid_biped.TsidBiped.sample_LF_vel

Definition at line 149 of file tsid_biped.py.

sample_RF_acc

tsid_biped.TsidBiped.sample_RF_acc

Definition at line 155 of file tsid_biped.py.

sample_RF_pos

tsid_biped.TsidBiped.sample_RF_pos

Definition at line 153 of file tsid_biped.py.

sample_RF_vel

tsid_biped.TsidBiped.sample_RF_vel

Definition at line 154 of file tsid_biped.py.

sampleLF

tsid_biped.TsidBiped.sampleLF

Definition at line 147 of file tsid_biped.py.

sampleRF

tsid_biped.TsidBiped.sampleRF

Definition at line 152 of file tsid_biped.py.

solver

tsid_biped.TsidBiped.solver

Definition at line 157 of file tsid_biped.py.

tau_max

tsid_biped.TsidBiped.tau_max

Definition at line 123 of file tsid_biped.py.

tau_min

tsid_biped.TsidBiped.tau_min

Definition at line 124 of file tsid_biped.py.

trajCom

tsid_biped.TsidBiped.trajCom

Definition at line 140 of file tsid_biped.py.

trajLF

tsid_biped.TsidBiped.trajLF

Definition at line 112 of file tsid_biped.py.

trajPosture

tsid_biped.TsidBiped.trajPosture

Definition at line 144 of file tsid_biped.py.

trajRF

tsid_biped.TsidBiped.trajRF

Definition at line 120 of file tsid_biped.py.

v

tsid_biped.TsidBiped.v

Definition at line 170 of file tsid_biped.py.

v_max

tsid_biped.TsidBiped.v_max

Definition at line 133 of file tsid_biped.py.

v_min

tsid_biped.TsidBiped.v_min

Definition at line 134 of file tsid_biped.py.

viz

tsid_biped.TsidBiped.viz

Definition at line 186 of file tsid_biped.py.

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The documentation for this class was generated from the following file:

• tsid_biped.py