Variables | |
actuationBoundsTask = tsid.TaskActuationBounds("task-actuation-bounds", robot) | |
aEE = np.zeros(6) | |
amp = np.array([0.0, 0.04, 0.0]) | |
ContactTwoFramePositionsFingertipBottomAxis | |
data = invdyn.data() | |
int | DISPLAY_N = 25 |
float | dt = 0.001 |
dv = invdyn.getAccelerations(sol) | |
filename = str(Path(__file__).resolve().parent) | |
string | fingertip_name = "gripper_left_fingertip_3_link" |
fingertipPositionTask | |
H_fingertip_ref = robot.framePosition(invdyn.data(), model.getFrameId(fingertip_name)) | |
HQPData = invdyn.computeProblemData(t, q, v) | |
int | i = 0 |
invdyn = tsid.InverseDynamicsFormulationAccForce("tsid", robot, False) | |
float | kp_ee = 10.0 |
float | kp_posture = 10.0 |
int | LINE_WIDTH = 60 |
linewidth | |
loadModel | |
model = robot.model() | |
int | N_SIMULATION = 6000 |
offset = sampleFingertipPosition.pos() | |
open | |
string | path = filename + "../../tsid_demo_closed_kinematic_chain/models/talos_gripper" |
pEE = offset.copy() | |
postureTask = tsid.TaskJointPosture("task-posture", robot) | |
precision | |
int | PRINT_N = 500 |
q = np.zeros(robot.nq) | |
q_ref = q | |
robot = tsid.RobotWrapper(urdf, vector, False) | |
robot_display = pin.RobotWrapper.BuildFromURDF(urdf, [path]) | |
sampleFingertipPosition = trajFingertipPosition.computeNext() | |
samplePosture = trajPosture.computeNext() | |
sol = solver.solve(HQPData) | |
solver = tsid.SolverHQuadProgFast("qp solver") | |
suppress | |
float | t = 0.0 |
tau = invdyn.getActuatorForces(sol) | |
tau_max = model.effortLimit[-robot.na :] | |
tau_min = -tau_max | |
time_spent = time.time() - time_start | |
time_start = time.time() | |
trajFingertipPosition | |
trajPosture = tsid.TrajectoryEuclidianConstant("traj_joint", q_ref) | |
True | |
int | two_pi_f = 2 * np.pi * np.array([0.0, 0.5, 0.0]) |
two_pi_f_amp = np.multiply(two_pi_f, amp) | |
two_pi_f_squared_amp = np.multiply(two_pi_f, two_pi_f_amp) | |
int | twoFramesContact_Kp = 300 |
int | twoFramesContact_w_forceRef = 1e-5 |
string | urdf = path + "../../tsid_demo_closed_kinematic_chain/urdf/talos_gripper_half.urdf" |
v = np.zeros(robot.nv) | |
float | v_mean = v + 0.5 * dt * dv |
vector = pin.StdVec_StdString() | |
vEE = np.zeros(6) | |
viz | |
float | w_ee = 1.0 |
int | w_posture = 1e-3 |
Simple demo of usage of ContactTwoFramePositions in TSID Make the Talos gripper model works with closed kinematic chains (c) MIPT
demo_tsid_talos_gripper_closed_kinematic_chain.actuationBoundsTask = tsid.TaskActuationBounds("task-actuation-bounds", robot) |
Definition at line 118 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.aEE = np.zeros(6) |
Definition at line 146 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.amp = np.array([0.0, 0.04, 0.0]) |
Definition at line 139 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.ContactTwoFramePositionsFingertipBottomAxis |
Definition at line 92 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.data = invdyn.data() |
Definition at line 66 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
int demo_tsid_talos_gripper_closed_kinematic_chain.DISPLAY_N = 25 |
Definition at line 33 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
float demo_tsid_talos_gripper_closed_kinematic_chain.dt = 0.001 |
Definition at line 31 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.dv = invdyn.getAccelerations(sol) |
Definition at line 176 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
Definition at line 40 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
string demo_tsid_talos_gripper_closed_kinematic_chain.fingertip_name = "gripper_left_fingertip_3_link" |
Definition at line 69 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.fingertipPositionTask |
Definition at line 72 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.H_fingertip_ref = robot.framePosition(invdyn.data(), model.getFrameId(fingertip_name)) |
Definition at line 70 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
Definition at line 166 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
int demo_tsid_talos_gripper_closed_kinematic_chain.i = 0 |
Definition at line 148 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.invdyn = tsid.InverseDynamicsFormulationAccForce("tsid", robot, False) |
Definition at line 64 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
float demo_tsid_talos_gripper_closed_kinematic_chain.kp_ee = 10.0 |
Definition at line 28 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
float demo_tsid_talos_gripper_closed_kinematic_chain.kp_posture = 10.0 |
Definition at line 29 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
int demo_tsid_talos_gripper_closed_kinematic_chain.LINE_WIDTH = 60 |
Definition at line 16 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.linewidth |
Definition at line 14 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.loadModel |
Definition at line 50 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.model = robot.model() |
Definition at line 52 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
int demo_tsid_talos_gripper_closed_kinematic_chain.N_SIMULATION = 6000 |
Definition at line 34 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.offset = sampleFingertipPosition.pos() |
Definition at line 137 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.open |
Definition at line 61 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
string demo_tsid_talos_gripper_closed_kinematic_chain.path = filename + "../../tsid_demo_closed_kinematic_chain/models/talos_gripper" |
Definition at line 41 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.pEE = offset.copy() |
Definition at line 144 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.postureTask = tsid.TaskJointPosture("task-posture", robot) |
Definition at line 85 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.precision |
Definition at line 14 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
int demo_tsid_talos_gripper_closed_kinematic_chain.PRINT_N = 500 |
Definition at line 32 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.q = np.zeros(robot.nq) |
Definition at line 53 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.q_ref = q |
Definition at line 122 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
Definition at line 46 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.robot_display = pin.RobotWrapper.BuildFromURDF(urdf, [path]) |
Definition at line 49 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.sampleFingertipPosition = trajFingertipPosition.computeNext() |
Definition at line 81 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.samplePosture = trajPosture.computeNext() |
Definition at line 162 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.sol = solver.solve(HQPData) |
Definition at line 170 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.solver = tsid.SolverHQuadProgFast("qp solver") |
Definition at line 134 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.suppress |
Definition at line 14 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
float demo_tsid_talos_gripper_closed_kinematic_chain.t = 0.0 |
Definition at line 63 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.tau = invdyn.getActuatorForces(sol) |
Definition at line 175 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.tau_max = model.effortLimit[-robot.na :] |
Definition at line 112 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.tau_min = -tau_max |
Definition at line 117 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.time_spent = time.time() - time_start |
Definition at line 189 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.time_start = time.time() |
Definition at line 150 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.trajFingertipPosition |
Definition at line 78 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.trajPosture = tsid.TrajectoryEuclidianConstant("traj_joint", q_ref) |
Definition at line 123 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.True |
Definition at line 61 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
int demo_tsid_talos_gripper_closed_kinematic_chain.two_pi_f = 2 * np.pi * np.array([0.0, 0.5, 0.0]) |
Definition at line 140 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
Definition at line 141 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.two_pi_f_squared_amp = np.multiply(two_pi_f, two_pi_f_amp) |
Definition at line 142 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
int demo_tsid_talos_gripper_closed_kinematic_chain.twoFramesContact_Kp = 300 |
Definition at line 100 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
int demo_tsid_talos_gripper_closed_kinematic_chain.twoFramesContact_w_forceRef = 1e-5 |
Definition at line 106 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
string demo_tsid_talos_gripper_closed_kinematic_chain.urdf = path + "../../tsid_demo_closed_kinematic_chain/urdf/talos_gripper_half.urdf" |
Definition at line 42 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.v = np.zeros(robot.nv) |
Definition at line 54 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
Definition at line 181 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.vector = pin.StdVec_StdString() |
Definition at line 43 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.vEE = np.zeros(6) |
Definition at line 145 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
demo_tsid_talos_gripper_closed_kinematic_chain.viz |
Definition at line 56 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
float demo_tsid_talos_gripper_closed_kinematic_chain.w_ee = 1.0 |
Definition at line 25 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.
int demo_tsid_talos_gripper_closed_kinematic_chain.w_posture = 1e-3 |
Definition at line 26 of file demo_tsid_talos_gripper_closed_kinematic_chain.py.