|
| | demo_tsid_talos_gripper_closed_kinematic_chain.actuationBoundsTask = tsid.TaskActuationBounds("task-actuation-bounds", robot) |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.aEE = np.zeros(6) |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.amp = np.array([0.0, 0.04, 0.0]) |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.ContactTwoFramePositionsFingertipBottomAxis |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.data = invdyn.data() |
| |
| int | demo_tsid_talos_gripper_closed_kinematic_chain.DISPLAY_N = 25 |
| |
| float | demo_tsid_talos_gripper_closed_kinematic_chain.dt = 0.001 |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.dv = invdyn.getAccelerations(sol) |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.filename = str(Path(__file__).resolve().parent) |
| |
| string | demo_tsid_talos_gripper_closed_kinematic_chain.fingertip_name = "gripper_left_fingertip_3_link" |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.fingertipPositionTask |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.H_fingertip_ref = robot.framePosition(invdyn.data(), model.getFrameId(fingertip_name)) |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.HQPData = invdyn.computeProblemData(t, q, v) |
| |
| int | demo_tsid_talos_gripper_closed_kinematic_chain.i = 0 |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.invdyn = tsid.InverseDynamicsFormulationAccForce("tsid", robot, False) |
| |
| float | demo_tsid_talos_gripper_closed_kinematic_chain.kp_ee = 10.0 |
| |
| float | demo_tsid_talos_gripper_closed_kinematic_chain.kp_posture = 10.0 |
| |
| int | demo_tsid_talos_gripper_closed_kinematic_chain.LINE_WIDTH = 60 |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.linewidth |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.loadModel |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.model = robot.model() |
| |
| int | demo_tsid_talos_gripper_closed_kinematic_chain.N_SIMULATION = 6000 |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.offset = sampleFingertipPosition.pos() |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.open |
| |
| string | demo_tsid_talos_gripper_closed_kinematic_chain.path = filename + "../../tsid_demo_closed_kinematic_chain/models/talos_gripper" |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.pEE = offset.copy() |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.postureTask = tsid.TaskJointPosture("task-posture", robot) |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.precision |
| |
| int | demo_tsid_talos_gripper_closed_kinematic_chain.PRINT_N = 500 |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.q = np.zeros(robot.nq) |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.q_ref = q |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.robot = tsid.RobotWrapper(urdf, vector, False) |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.robot_display = pin.RobotWrapper.BuildFromURDF(urdf, [path]) |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.sampleFingertipPosition = trajFingertipPosition.computeNext() |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.samplePosture = trajPosture.computeNext() |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.sol = solver.solve(HQPData) |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.solver = tsid.SolverHQuadProgFast("qp solver") |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.suppress |
| |
| float | demo_tsid_talos_gripper_closed_kinematic_chain.t = 0.0 |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.tau = invdyn.getActuatorForces(sol) |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.tau_max = model.effortLimit[-robot.na :] |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.tau_min = -tau_max |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.time_spent = time.time() - time_start |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.time_start = time.time() |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.trajFingertipPosition |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.trajPosture = tsid.TrajectoryEuclidianConstant("traj_joint", q_ref) |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.True |
| |
| int | demo_tsid_talos_gripper_closed_kinematic_chain.two_pi_f = 2 * np.pi * np.array([0.0, 0.5, 0.0]) |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.two_pi_f_amp = np.multiply(two_pi_f, amp) |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.two_pi_f_squared_amp = np.multiply(two_pi_f, two_pi_f_amp) |
| |
| int | demo_tsid_talos_gripper_closed_kinematic_chain.twoFramesContact_Kp = 300 |
| |
| int | demo_tsid_talos_gripper_closed_kinematic_chain.twoFramesContact_w_forceRef = 1e-5 |
| |
| string | demo_tsid_talos_gripper_closed_kinematic_chain.urdf = path + "../../tsid_demo_closed_kinematic_chain/urdf/talos_gripper_half.urdf" |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.v = np.zeros(robot.nv) |
| |
| float | demo_tsid_talos_gripper_closed_kinematic_chain.v_mean = v + 0.5 * dt * dv |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.vector = pin.StdVec_StdString() |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.vEE = np.zeros(6) |
| |
| | demo_tsid_talos_gripper_closed_kinematic_chain.viz |
| |
| float | demo_tsid_talos_gripper_closed_kinematic_chain.w_ee = 1.0 |
| |
| int | demo_tsid_talos_gripper_closed_kinematic_chain.w_posture = 1e-3 |
| |