rh5_legs_floating_base.py File Reference

Namespaces
namespace	rh5_legs_floating_base

Variables
	rh5_legs_floating_base.floating_base_state = RigidBodyStateSE3()
	rh5_legs_floating_base.position
	rh5_legs_floating_base.orientation
	rh5_legs_floating_base.linear
	rh5_legs_floating_base.angular
	rh5_legs_floating_base.robot_model = RobotModelRBDL()
	rh5_legs_floating_base.r = RobotModelConfig()
	rh5_legs_floating_base.file_or_string
	rh5_legs_floating_base.floating_base
	rh5_legs_floating_base.contacts = ActiveContacts()
	rh5_legs_floating_base.names
	rh5_legs_floating_base.a = ActiveContact()
	rh5_legs_floating_base.mu
	rh5_legs_floating_base.active
	rh5_legs_floating_base.elements = []
	rh5_legs_floating_base.contact_points
	rh5_legs_floating_base.solver = QPOASESSolver()
	rh5_legs_floating_base.cfg = TaskConfig()
	rh5_legs_floating_base.name
	rh5_legs_floating_base.root
	rh5_legs_floating_base.tip
	rh5_legs_floating_base.ref_frame
	rh5_legs_floating_base.priority
	rh5_legs_floating_base.activation
	rh5_legs_floating_base.type
	rh5_legs_floating_base.weights
	rh5_legs_floating_base.scene = AccelerationSceneTSID(robot_model, solver, 0.001)
	rh5_legs_floating_base.ctrl = CartesianPosPDController()
	rh5_legs_floating_base.setpoint = RigidBodyStateSE3()
	rh5_legs_floating_base.feedback = RigidBodyStateSE3()
	rh5_legs_floating_base.control_output = RigidBodyStateSE3()
	rh5_legs_floating_base.joint_state = Joints()
list	rh5_legs_floating_base.init_pos
	rh5_legs_floating_base.js = JointState()
	rh5_legs_floating_base.speed
	rh5_legs_floating_base.acceleration
	rh5_legs_floating_base.microseconds
	rh5_legs_floating_base.qp = scene.update()
	rh5_legs_floating_base.solver_output = scene.solve(qp)