demo_quadruped Namespace Reference

Variables
	amp = np.array([0.0, 0.03, 0.0])
	ax
	cl = gepetto.corbaserver.Client()
	com_acc = np.empty((3, N_SIMULATION)) * nan
tuple	com_acc_des
	com_acc_ref = np.empty((3, N_SIMULATION)) * nan
	com_pos = np.empty((3, N_SIMULATION)) * nan
	com_pos_ref = np.empty((3, N_SIMULATION)) * nan
	com_ref = robot.com(data)
	com_vel = np.empty((3, N_SIMULATION)) * nan
	com_vel_ref = np.empty((3, N_SIMULATION)) * nan
	comTask = tsid.TaskComEquality("task-com", robot)
list	contact_frames = ["BL_contact", "BR_contact", "FL_contact", "FR_contact"]
	contactNormal
int	contacts = 4 * [None]
	data = invdyn.data()
int	DISPLAY_N = 25
float	dt = 0.001
	dv = invdyn.getAccelerations(sol)
	end
	f = invdyn.getContactForce(contact.name, sol)
	filename = str(os.path.dirname(os.path.abspath(__file__)))
float	fMax = 100.0
float	fMin = 1.0
	gui = cl.gui
	H_rf_ref = robot.framePosition(data, robot.model().getFrameId(name))
	HQPData = invdyn.computeProblemData(t, q, v)
	id_contact = robot_display.model.getFrameId(contact_frames[0])
	invdyn = tsid.InverseDynamicsFormulationAccForce("tsid", robot, False)
float	kp_com = 10.0
float	kp_contact = 10.0
float	kp_posture = 10.0
	l = subprocess.getstatusoutput("ps aux |grep 'gepetto-gui'|grep -v 'grep'|wc -l")
	label
	leg = ax[i].legend()
int	LINE_WIDTH = 60
	linewidth
	loadModel
float	mu = 0.3
int	N_SIMULATION = 6000
	offset = robot.com(data) + np.array([0.0, 0.0, 0.0])
string	path = filename + "/../models"
	postureTask = tsid.TaskJointPosture("task-posture", robot)
	precision
int	PRINT_N = 500
	q = np.zeros(robot.nq)
	q_ref = q[7:]
	robot = tsid.RobotWrapper(urdf, vector, pin.JointModelFreeFlyer(), False)
	robot_display
	sampleCom = trajCom.computeNext()
	samplePosture = trajPosture.computeNext()
	sol = solver.solve(HQPData)
	solver = tsid.SolverHQuadProgFast("qp solver")
	suppress
float	t = 0.0
	tau = invdyn.getActuatorForces(sol)
	time = np.arange(0.0, N_SIMULATION * dt, dt)
	time_spent = time.time() - time_start
	time_start = time.time()
	trajCom = tsid.TrajectoryEuclidianConstant("traj_com", com_ref)
	trajPosture = tsid.TrajectoryEuclidianConstant("traj_joint", q_ref)
int	two_pi_f = 2 * np.pi * np.array([0.0, 2.0, 0.7])
	two_pi_f_amp = np.multiply(two_pi_f, amp)
	two_pi_f_squared_amp = np.multiply(two_pi_f, two_pi_f_amp)
string	urdf = path + "/quadruped/urdf/quadruped.urdf"
	v = np.zeros(robot.nv)
float	v_mean = v + 0.5 * dt * dv
	vector = pin.StdVec_StdString()
float	w_com = 1.0
int	w_forceRef = 1e-5
int	w_posture = 1e-3

Variable Documentation

amp

demo_quadruped.amp = np.array([0.0, 0.03, 0.0])

Definition at line 148 of file demo_quadruped.py.

ax

demo_quadruped.ax

Definition at line 213 of file demo_quadruped.py.

cl

demo_quadruped.cl = gepetto.corbaserver.Client()

Definition at line 64 of file demo_quadruped.py.

com_acc

demo_quadruped.com_acc = np.empty((3, N_SIMULATION)) * nan

Definition at line 138 of file demo_quadruped.py.

com_acc_des

tuple demo_quadruped.com_acc_des

Initial value:

=  (
    np.empty((3, N_SIMULATION)) * nan
)

Definition at line 143 of file demo_quadruped.py.

com_acc_ref

demo_quadruped.com_acc_ref = np.empty((3, N_SIMULATION)) * nan

Definition at line 142 of file demo_quadruped.py.

com_pos

demo_quadruped.com_pos = np.empty((3, N_SIMULATION)) * nan

Definition at line 136 of file demo_quadruped.py.

com_pos_ref

demo_quadruped.com_pos_ref = np.empty((3, N_SIMULATION)) * nan

Definition at line 140 of file demo_quadruped.py.

com_ref

demo_quadruped.com_ref = robot.com(data)

Definition at line 117 of file demo_quadruped.py.

com_vel

demo_quadruped.com_vel = np.empty((3, N_SIMULATION)) * nan

Definition at line 137 of file demo_quadruped.py.

com_vel_ref

demo_quadruped.com_vel_ref = np.empty((3, N_SIMULATION)) * nan

Definition at line 141 of file demo_quadruped.py.

comTask

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

Definition at line 107 of file demo_quadruped.py.

contact_frames

list demo_quadruped.contact_frames = ["BL_contact", "BR_contact", "FL_contact", "FR_contact"]

Definition at line 27 of file demo_quadruped.py.

contactNormal

demo_quadruped.contactNormal

Initial value:

=  np.array(
    [0.0, 0.0, 1.0]
)

Definition at line 28 of file demo_quadruped.py.

contacts

int demo_quadruped.contacts = 4 * [None]

Definition at line 97 of file demo_quadruped.py.

data

demo_quadruped.data = invdyn.data()

Definition at line 90 of file demo_quadruped.py.

DISPLAY_N

int demo_quadruped.DISPLAY_N = 25

Definition at line 42 of file demo_quadruped.py.

dt

float demo_quadruped.dt = 0.001

Definition at line 40 of file demo_quadruped.py.

dv

demo_quadruped.dv = invdyn.getAccelerations(sol)

Definition at line 174 of file demo_quadruped.py.

end

demo_quadruped.end

Definition at line 186 of file demo_quadruped.py.

f

demo_quadruped.f = invdyn.getContactForce(contact.name, sol)

Definition at line 189 of file demo_quadruped.py.

filename

demo_quadruped.filename = str(os.path.dirname(os.path.abspath(__file__)))

Definition at line 45 of file demo_quadruped.py.

fMax

float demo_quadruped.fMax = 100.0

Definition at line 26 of file demo_quadruped.py.

fMin

float demo_quadruped.fMin = 1.0

Definition at line 25 of file demo_quadruped.py.

gui

demo_quadruped.gui = cl.gui

Definition at line 65 of file demo_quadruped.py.

H_rf_ref

demo_quadruped.H_rf_ref = robot.framePosition(data, robot.model().getFrameId(name))

Definition at line 102 of file demo_quadruped.py.

HQPData

demo_quadruped.HQPData = invdyn.computeProblemData(t, q, v)

Definition at line 164 of file demo_quadruped.py.

id_contact

demo_quadruped.id_contact = robot_display.model.getFrameId(contact_frames[0])

Definition at line 93 of file demo_quadruped.py.

invdyn

demo_quadruped.invdyn = tsid.InverseDynamicsFormulationAccForce("tsid", robot, False)

Definition at line 88 of file demo_quadruped.py.

kp_com

float demo_quadruped.kp_com = 10.0

Definition at line 37 of file demo_quadruped.py.

kp_contact

float demo_quadruped.kp_contact = 10.0

Definition at line 36 of file demo_quadruped.py.

kp_posture

float demo_quadruped.kp_posture = 10.0

Definition at line 38 of file demo_quadruped.py.

l

demo_quadruped.l = subprocess.getstatusoutput("ps aux |grep 'gepetto-gui'|grep -v 'grep'|wc -l")

Definition at line 60 of file demo_quadruped.py.

label

demo_quadruped.label

Definition at line 215 of file demo_quadruped.py.

leg

demo_quadruped.leg = ax[i].legend()

Definition at line 219 of file demo_quadruped.py.

LINE_WIDTH

int demo_quadruped.LINE_WIDTH = 60

Definition at line 19 of file demo_quadruped.py.

linewidth

demo_quadruped.linewidth

Definition at line 17 of file demo_quadruped.py.

loadModel

demo_quadruped.loadModel

Definition at line 66 of file demo_quadruped.py.

mu

float demo_quadruped.mu = 0.3

Definition at line 24 of file demo_quadruped.py.

N_SIMULATION

int demo_quadruped.N_SIMULATION = 6000

Definition at line 43 of file demo_quadruped.py.

offset

demo_quadruped.offset = robot.com(data) + np.array([0.0, 0.0, 0.0])

Definition at line 147 of file demo_quadruped.py.

path

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

Definition at line 46 of file demo_quadruped.py.

postureTask

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

Definition at line 112 of file demo_quadruped.py.

precision

demo_quadruped.precision

Definition at line 17 of file demo_quadruped.py.

PRINT_N

int demo_quadruped.PRINT_N = 500

Definition at line 41 of file demo_quadruped.py.

q

demo_quadruped.q = np.zeros(robot.nq)

Definition at line 73 of file demo_quadruped.py.

q_ref

demo_quadruped.q_ref = q[7:]

Definition at line 121 of file demo_quadruped.py.

robot

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

Definition at line 50 of file demo_quadruped.py.

robot_display

demo_quadruped.robot_display

Initial value:

=  pin.RobotWrapper.BuildFromURDF(
    urdf,
    [
        path,
    ],
    pin.JointModelFreeFlyer(),
)

Definition at line 53 of file demo_quadruped.py.

sampleCom

demo_quadruped.sampleCom = trajCom.computeNext()

Definition at line 119 of file demo_quadruped.py.

samplePosture

demo_quadruped.samplePosture = trajPosture.computeNext()

Definition at line 161 of file demo_quadruped.py.

sol

demo_quadruped.sol = solver.solve(HQPData)

Definition at line 168 of file demo_quadruped.py.

solver

demo_quadruped.solver = tsid.SolverHQuadProgFast("qp solver")

Definition at line 133 of file demo_quadruped.py.

suppress

demo_quadruped.suppress

Definition at line 17 of file demo_quadruped.py.

t

float demo_quadruped.t = 0.0

Definition at line 87 of file demo_quadruped.py.

tau

demo_quadruped.tau = invdyn.getActuatorForces(sol)

Definition at line 173 of file demo_quadruped.py.

time

demo_quadruped.time = np.arange(0.0, N_SIMULATION * dt, dt)

Definition at line 211 of file demo_quadruped.py.

time_spent

demo_quadruped.time_spent = time.time() - time_start

Definition at line 206 of file demo_quadruped.py.

time_start

demo_quadruped.time_start = time.time()

Definition at line 154 of file demo_quadruped.py.

trajCom

demo_quadruped.trajCom = tsid.TrajectoryEuclidianConstant("traj_com", com_ref)

Definition at line 118 of file demo_quadruped.py.

trajPosture

demo_quadruped.trajPosture = tsid.TrajectoryEuclidianConstant("traj_joint", q_ref)

Definition at line 122 of file demo_quadruped.py.

two_pi_f

int demo_quadruped.two_pi_f = 2 * np.pi * np.array([0.0, 2.0, 0.7])

Definition at line 149 of file demo_quadruped.py.

two_pi_f_amp

demo_quadruped.two_pi_f_amp = np.multiply(two_pi_f, amp)

Definition at line 150 of file demo_quadruped.py.

two_pi_f_squared_amp

demo_quadruped.two_pi_f_squared_amp = np.multiply(two_pi_f, two_pi_f_amp)

Definition at line 151 of file demo_quadruped.py.

urdf

string demo_quadruped.urdf = path + "/quadruped/urdf/quadruped.urdf"

Definition at line 47 of file demo_quadruped.py.

v

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

Definition at line 79 of file demo_quadruped.py.

v_mean

float demo_quadruped.v_mean = v + 0.5 * dt * dv

Definition at line 198 of file demo_quadruped.py.

vector

demo_quadruped.vector = pin.StdVec_StdString()

Definition at line 48 of file demo_quadruped.py.

w_com

float demo_quadruped.w_com = 1.0

Definition at line 32 of file demo_quadruped.py.

w_forceRef

int demo_quadruped.w_forceRef = 1e-5

Definition at line 34 of file demo_quadruped.py.

w_posture

int demo_quadruped.w_posture = 1e-3

Definition at line 33 of file demo_quadruped.py.