test_RobotWrapper Namespace Reference

Variables
	base_mass_matrix = robot.mass(data)
	data = robot.data()
int	expected_inertia = rotor_inertia * gear_ratio**2
	filename = str(Path(__file__).resolve().parent)
	gear_ratio = rng.uniform(0, 1, size=(robot.nq - 7))
	lb = model.lowerPositionLimit
	mass_matrix_with_motor_inertia = robot.mass(data)
	model = robot.model()
string	path = filename + "/../../models/romeo"
	q = se3.randomConfiguration(robot.model(), lb, ub)
	rng = np.random.default_rng()
	robot = tsid.RobotWrapper(urdf, vector, se3.JointModelFreeFlyer(), False)
	rotor_inertia = rng.uniform(0, 1, size=(robot.nq - 7))
	ub = model.upperPositionLimit
string	urdf = path + "/urdf/romeo.urdf"
	v = np.ones(robot.nv)
	vector = se3.StdVec_StdString()

Variable Documentation

base_mass_matrix

test_RobotWrapper.base_mass_matrix = robot.mass(data)

Definition at line 37 of file test_RobotWrapper.py.

data

test_RobotWrapper.data = robot.data()

Definition at line 33 of file test_RobotWrapper.py.

expected_inertia

int test_RobotWrapper.expected_inertia = rotor_inertia * gear_ratio**2

Definition at line 43 of file test_RobotWrapper.py.

filename

test_RobotWrapper.filename = str(Path(__file__).resolve().parent)

Definition at line 13 of file test_RobotWrapper.py.

gear_ratio

test_RobotWrapper.gear_ratio = rng.uniform(0, 1, size=(robot.nq - 7))

Definition at line 42 of file test_RobotWrapper.py.

lb

test_RobotWrapper.lb = model.lowerPositionLimit

Definition at line 21 of file test_RobotWrapper.py.

mass_matrix_with_motor_inertia

test_RobotWrapper.mass_matrix_with_motor_inertia = robot.mass(data)

Definition at line 51 of file test_RobotWrapper.py.

model

test_RobotWrapper.model = robot.model()

Definition at line 20 of file test_RobotWrapper.py.

path

string test_RobotWrapper.path = filename + "/../../models/romeo"

Definition at line 14 of file test_RobotWrapper.py.

q

test_RobotWrapper.q = se3.randomConfiguration(robot.model(), lb, ub)

Definition at line 29 of file test_RobotWrapper.py.

rng

test_RobotWrapper.rng = np.random.default_rng()

Definition at line 40 of file test_RobotWrapper.py.

robot

test_RobotWrapper.robot = tsid.RobotWrapper(urdf, vector, se3.JointModelFreeFlyer(), False)

Definition at line 19 of file test_RobotWrapper.py.

rotor_inertia

test_RobotWrapper.rotor_inertia = rng.uniform(0, 1, size=(robot.nq - 7))

Definition at line 41 of file test_RobotWrapper.py.

ub

test_RobotWrapper.ub = model.upperPositionLimit

Definition at line 25 of file test_RobotWrapper.py.

urdf

string test_RobotWrapper.urdf = path + "/urdf/romeo.urdf"

Definition at line 15 of file test_RobotWrapper.py.

v

test_RobotWrapper.v = np.ones(robot.nv)

Definition at line 34 of file test_RobotWrapper.py.

vector

test_RobotWrapper.vector = se3.StdVec_StdString()

Definition at line 16 of file test_RobotWrapper.py.