Variables
	am_ref = np.zeros(3)

float	com_ref = data.com[0] + np.ones(3) * 0.02

	const = taskCOM.compute(t, q, v, data)

	data = robot.data()

	data_next = robot.data().copy()

	diff_drift = norm(drift_pin - drift)

tuple	drift = (J_am_next[-3:, :] - J_am[-3:, :]).dot(v) / dt

	drift_pin = pin.computeCentroidalMomentumTimeVariation(model, data).angular

float	dt = 0.001

	dv = Jpinv.dot(const.vector)

	error = np.linalg.norm(taskCOM.position_error, 2)

int	error_past = 1e100

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

	J_am = data.Ag

	J_am_next = data_next.Ag

	Jpinv = np.zeros((robot.nv, 3))

float	Kd = 20.0 * np.ones(3)

int	Kp = 100 * np.ones(3)

	M_ref = pin.SE3.Random()

int	max_it = 1000

	model = robot.model()

int	na = robot.nv - 6

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

	q = model.referenceConfigurations["half_sitting"]

	q_next = pin.integrate(model, q, dt * v)

	q_ref = rng.standard_normal(na)

	rng = np.random.default_rng()

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

	sample = tsid.TrajectorySample(0)

string	srdf = path + "/srdf/romeo_collision.srdf"

float	t = 0.0

	task_joint = tsid.TaskJointPosture("task-posture", robot)

	task_se3 = tsid.TaskSE3Equality("task-se3", robot, "RWristPitch")

	taskAM = tsid.TaskAMEquality("task-AM", robot)

	taskCOM = tsid.TaskComEquality("task-com", robot)

int	tol = 1e-5

	traj = tsid.TrajectoryEuclidianConstant("traj_se3", com_ref)

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

	v = np.zeros(robot.nv)

	vector = pin.StdVec_StdString()

Variable Documentation

◆ am_ref

test_Tasks.am_ref = np.zeros(3)

Definition at line 233 of file test_Tasks.py.

◆ com_ref

float test_Tasks.com_ref = data.com[0] + np.ones(3) * 0.02

Definition at line 45 of file test_Tasks.py.

◆ const

test_Tasks.const = taskCOM.compute(t, q, v, data)

Definition at line 60 of file test_Tasks.py.

◆ data

test_Tasks.data = robot.data()

Definition at line 24 of file test_Tasks.py.

◆ data_next

test_Tasks.data_next = robot.data().copy()

Definition at line 255 of file test_Tasks.py.

◆ diff_drift

test_Tasks.diff_drift = norm(drift_pin - drift)

Definition at line 261 of file test_Tasks.py.

◆ drift

tuple test_Tasks.drift = (J_am_next[-3:, :] - J_am[-3:, :]).dot(v) / dt

Definition at line 259 of file test_Tasks.py.

◆ drift_pin

test_Tasks.drift_pin = pin.computeCentroidalMomentumTimeVariation(model, data).angular

Definition at line 260 of file test_Tasks.py.

◆ dt

int test_Tasks.dt = 0.001

Definition at line 50 of file test_Tasks.py.

◆ dv

test_Tasks.dv = Jpinv.dot(const.vector)

Definition at line 63 of file test_Tasks.py.

◆ error

test_Tasks.error = np.linalg.norm(taskCOM.position_error, 2)

Definition at line 70 of file test_Tasks.py.

◆ error_past

int test_Tasks.error_past = 1e100

Definition at line 53 of file test_Tasks.py.

◆ filename

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

Definition at line 17 of file test_Tasks.py.

◆ J_am

test_Tasks.J_am = data.Ag

Definition at line 257 of file test_Tasks.py.

◆ J_am_next

test_Tasks.J_am_next = data_next.Ag

Definition at line 258 of file test_Tasks.py.

◆ Jpinv

test_Tasks.Jpinv = np.zeros((robot.nv, 3))

Definition at line 52 of file test_Tasks.py.

◆ Kd

float test_Tasks.Kd = 20.0 * np.ones(3)

Definition at line 38 of file test_Tasks.py.

◆ Kp

int test_Tasks.Kp = 100 * np.ones(3)

Definition at line 37 of file test_Tasks.py.

◆ M_ref

test_Tasks.M_ref = pin.SE3.Random()

Definition at line 161 of file test_Tasks.py.

◆ max_it

int test_Tasks.max_it = 1000

Definition at line 51 of file test_Tasks.py.

◆ model

test_Tasks.model = robot.model()

Definition at line 23 of file test_Tasks.py.

◆ na

int test_Tasks.na = robot.nv - 6

Definition at line 95 of file test_Tasks.py.

◆ path

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

Definition at line 18 of file test_Tasks.py.

◆ q

test_Tasks.q = model.referenceConfigurations["half_sitting"]

Definition at line 28 of file test_Tasks.py.

◆ q_next

test_Tasks.q_next = pin.integrate(model, q, dt * v)

Definition at line 254 of file test_Tasks.py.

◆ q_ref

test_Tasks.q_ref = rng.standard_normal(na)

Definition at line 105 of file test_Tasks.py.

◆ rng

test_Tasks.rng = np.random.default_rng()

Definition at line 104 of file test_Tasks.py.

◆ robot

test_Tasks.robot = tsid.RobotWrapper(urdf, vector, pin.JointModelFreeFlyer(), False)

Definition at line 22 of file test_Tasks.py.

◆ sample

test_Tasks.sample = tsid.TrajectorySample(0)

Definition at line 47 of file test_Tasks.py.

◆ srdf

string test_Tasks.srdf = path + "/srdf/romeo_collision.srdf"

Definition at line 26 of file test_Tasks.py.

◆ t

float test_Tasks.t = 0.0

Definition at line 49 of file test_Tasks.py.

◆ task_joint

test_Tasks.task_joint = tsid.TaskJointPosture("task-posture", robot)

Definition at line 93 of file test_Tasks.py.

◆ task_se3

test_Tasks.task_se3 = tsid.TaskSE3Equality("task-se3", robot, "RWristPitch")

Definition at line 150 of file test_Tasks.py.

◆ taskAM

test_Tasks.taskAM = tsid.TaskAMEquality("task-AM", robot)

Definition at line 223 of file test_Tasks.py.

◆ taskCOM

test_Tasks.taskCOM = tsid.TaskComEquality("task-com", robot)

Definition at line 35 of file test_Tasks.py.

◆ tol

int test_Tasks.tol = 1e-5

Definition at line 16 of file test_Tasks.py.

◆ traj

test_Tasks.traj = tsid.TrajectoryEuclidianConstant("traj_se3", com_ref)

Definition at line 46 of file test_Tasks.py.

◆ urdf

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

Definition at line 19 of file test_Tasks.py.

◆ v

test_Tasks.v = np.zeros(robot.nv)

Definition at line 54 of file test_Tasks.py.

◆ vector

test_Tasks.vector = pin.StdVec_StdString()

Definition at line 20 of file test_Tasks.py.

Variables