Variables
ex_4_conf Namespace Reference

Variables

int alpha = 10 ** (2)
 
int beta = 0
 
list CAMERA_TRANSFORM
 
 contactNormal
 
string DATA_FILE_LIPM = "romeo_walking_traj_lipm.npz"
 
string DATA_FILE_TSID = "romeo_walking_traj_tsid.npz"
 
int DISPLAY_N = 20
 
float dt = 0.002
 
float dt_mpc = 0.1
 
 filename = str(os.path.dirname(os.path.abspath(__file__)))
 
int fMax = 1e6
 
float fMin = 0.0
 
float foot_scaling = 1.0
 
 foot_step_0 = np.array([0.0, -0.096])
 
float g = 9.81
 
float gain_vector = kp_posture * np.ones(nv - 6)
 
int gamma = 10 ** (-1)
 
float h = 0.58
 
float kp_am = 10.0
 
float kp_com = 10.0
 
float kp_contact = 10.0
 
float kp_foot = 10.0
 
float kp_posture = 1.0
 
string lf_frame_name = "LAnkleRoll"
 
int LINE_WIDTH = 60
 
 linewidth
 
float lxn = foot_scaling * 0.05
 
float lxp = foot_scaling * 0.10
 
float lyn = foot_scaling * 0.05
 
float lyp = foot_scaling * 0.05
 
float lz = 0.07
 
 masks_posture = np.ones(nv - 6)
 
float mu = 0.3
 
int nb_steps = 4
 
int nv = 37
 
string path = filename + "/../models/romeo"
 
 precision
 
int PRINT_N = 500
 
string rf_frame_name = "RAnkleRoll"
 
string srdf = path + "/srdf/romeo_collision.srdf"
 
float step_height = 0.05
 
float step_length = 0.05
 
 suppress
 
float T_post = 1.5
 
float T_pre = 1.5
 
float T_step = 1.2
 
float tau_max_scaling = 1.45
 
string urdf = path + "/urdf/romeo.urdf"
 
float v_max_scaling = 0.8
 
 viewer = pin.visualize.GepettoVisualizer
 
int w_am = 1e-4
 
float w_com = 1.0
 
int w_contact = 1e2
 
float w_cop = 0.0
 
int w_foot = 1e0
 
int w_forceRef = 1e-5
 
float w_joint_bounds = 0.0
 
int w_posture = 1e-4
 
float w_torque_bounds = 0.0
 

Variable Documentation

◆ alpha

int ex_4_conf.alpha = 10 ** (2)

Definition at line 43 of file ex_4_conf.py.

◆ beta

int ex_4_conf.beta = 0

Definition at line 44 of file ex_4_conf.py.

◆ CAMERA_TRANSFORM

list ex_4_conf.CAMERA_TRANSFORM
Initial value:
1 = [
2  3.578777551651001,
3  1.2937744855880737,
4  0.8885031342506409,
5  0.4116811454296112,
6  0.5468055009841919,
7  0.6109083890914917,
8  0.3978860676288605,
9 ]

Definition at line 87 of file ex_4_conf.py.

◆ contactNormal

ex_4_conf.contactNormal
Initial value:
1 = np.matrix(
2  [0.0, 0.0, 1.0]
3 ).T

Definition at line 37 of file ex_4_conf.py.

◆ DATA_FILE_LIPM

string ex_4_conf.DATA_FILE_LIPM = "romeo_walking_traj_lipm.npz"

Definition at line 16 of file ex_4_conf.py.

◆ DATA_FILE_TSID

string ex_4_conf.DATA_FILE_TSID = "romeo_walking_traj_tsid.npz"

Definition at line 17 of file ex_4_conf.py.

◆ DISPLAY_N

int ex_4_conf.DISPLAY_N = 20

Definition at line 86 of file ex_4_conf.py.

◆ dt

float ex_4_conf.dt = 0.002

Definition at line 57 of file ex_4_conf.py.

◆ dt_mpc

float ex_4_conf.dt_mpc = 0.1

Definition at line 49 of file ex_4_conf.py.

◆ filename

ex_4_conf.filename = str(os.path.dirname(os.path.abspath(__file__)))

Definition at line 21 of file ex_4_conf.py.

◆ fMax

int ex_4_conf.fMax = 1e6

Definition at line 34 of file ex_4_conf.py.

◆ fMin

float ex_4_conf.fMin = 0.0

Definition at line 33 of file ex_4_conf.py.

◆ foot_scaling

float ex_4_conf.foot_scaling = 1.0

Definition at line 26 of file ex_4_conf.py.

◆ foot_step_0

ex_4_conf.foot_step_0 = np.array([0.0, -0.096])

Definition at line 48 of file ex_4_conf.py.

◆ g

float ex_4_conf.g = 9.81

Definition at line 47 of file ex_4_conf.py.

◆ gain_vector

float ex_4_conf.gain_vector = kp_posture * np.ones(nv - 6)

Definition at line 79 of file ex_4_conf.py.

◆ gamma

int ex_4_conf.gamma = 10 ** (-1)

Definition at line 45 of file ex_4_conf.py.

◆ h

float ex_4_conf.h = 0.58

Definition at line 46 of file ex_4_conf.py.

◆ kp_am

float ex_4_conf.kp_am = 10.0

Definition at line 77 of file ex_4_conf.py.

◆ kp_com

float ex_4_conf.kp_com = 10.0

Definition at line 76 of file ex_4_conf.py.

◆ kp_contact

float ex_4_conf.kp_contact = 10.0

Definition at line 74 of file ex_4_conf.py.

◆ kp_foot

float ex_4_conf.kp_foot = 10.0

Definition at line 75 of file ex_4_conf.py.

◆ kp_posture

float ex_4_conf.kp_posture = 1.0

Definition at line 78 of file ex_4_conf.py.

◆ lf_frame_name

string ex_4_conf.lf_frame_name = "LAnkleRoll"

Definition at line 36 of file ex_4_conf.py.

◆ LINE_WIDTH

int ex_4_conf.LINE_WIDTH = 60

Definition at line 14 of file ex_4_conf.py.

◆ linewidth

ex_4_conf.linewidth

Definition at line 13 of file ex_4_conf.py.

◆ lxn

float ex_4_conf.lxn = foot_scaling * 0.05

Definition at line 28 of file ex_4_conf.py.

◆ lxp

float ex_4_conf.lxp = foot_scaling * 0.10

Definition at line 27 of file ex_4_conf.py.

◆ lyn

float ex_4_conf.lyn = foot_scaling * 0.05

Definition at line 30 of file ex_4_conf.py.

◆ lyp

float ex_4_conf.lyp = foot_scaling * 0.05

Definition at line 29 of file ex_4_conf.py.

◆ lz

float ex_4_conf.lz = 0.07

Definition at line 31 of file ex_4_conf.py.

◆ masks_posture

ex_4_conf.masks_posture = np.ones(nv - 6)

Definition at line 80 of file ex_4_conf.py.

◆ mu

float ex_4_conf.mu = 0.3

Definition at line 32 of file ex_4_conf.py.

◆ nb_steps

int ex_4_conf.nb_steps = 4

Definition at line 53 of file ex_4_conf.py.

◆ nv

int ex_4_conf.nv = 37

Definition at line 25 of file ex_4_conf.py.

◆ path

string ex_4_conf.path = filename + "/../models/romeo"

Definition at line 22 of file ex_4_conf.py.

◆ precision

ex_4_conf.precision

Definition at line 13 of file ex_4_conf.py.

◆ PRINT_N

int ex_4_conf.PRINT_N = 500

Definition at line 85 of file ex_4_conf.py.

◆ rf_frame_name

string ex_4_conf.rf_frame_name = "RAnkleRoll"

Definition at line 35 of file ex_4_conf.py.

◆ srdf

string ex_4_conf.srdf = path + "/srdf/romeo_collision.srdf"

Definition at line 24 of file ex_4_conf.py.

◆ step_height

float ex_4_conf.step_height = 0.05

Definition at line 52 of file ex_4_conf.py.

◆ step_length

float ex_4_conf.step_length = 0.05

Definition at line 51 of file ex_4_conf.py.

◆ suppress

ex_4_conf.suppress

Definition at line 13 of file ex_4_conf.py.

◆ T_post

float ex_4_conf.T_post = 1.5

Definition at line 59 of file ex_4_conf.py.

◆ T_pre

float ex_4_conf.T_pre = 1.5

Definition at line 58 of file ex_4_conf.py.

◆ T_step

float ex_4_conf.T_step = 1.2

Definition at line 50 of file ex_4_conf.py.

◆ tau_max_scaling

float ex_4_conf.tau_max_scaling = 1.45

Definition at line 71 of file ex_4_conf.py.

◆ urdf

string ex_4_conf.urdf = path + "/urdf/romeo.urdf"

Definition at line 23 of file ex_4_conf.py.

◆ v_max_scaling

float ex_4_conf.v_max_scaling = 0.8

Definition at line 72 of file ex_4_conf.py.

◆ viewer

ex_4_conf.viewer = pin.visualize.GepettoVisualizer

Definition at line 84 of file ex_4_conf.py.

◆ w_am

int ex_4_conf.w_am = 1e-4

Definition at line 63 of file ex_4_conf.py.

◆ w_com

float ex_4_conf.w_com = 1.0

Definition at line 61 of file ex_4_conf.py.

◆ w_contact

int ex_4_conf.w_contact = 1e2

Definition at line 65 of file ex_4_conf.py.

◆ w_cop

float ex_4_conf.w_cop = 0.0

Definition at line 62 of file ex_4_conf.py.

◆ w_foot

int ex_4_conf.w_foot = 1e0

Definition at line 64 of file ex_4_conf.py.

◆ w_forceRef

int ex_4_conf.w_forceRef = 1e-5

Definition at line 67 of file ex_4_conf.py.

◆ w_joint_bounds

float ex_4_conf.w_joint_bounds = 0.0

Definition at line 69 of file ex_4_conf.py.

◆ w_posture

int ex_4_conf.w_posture = 1e-4

Definition at line 66 of file ex_4_conf.py.

◆ w_torque_bounds

float ex_4_conf.w_torque_bounds = 0.0

Definition at line 68 of file ex_4_conf.py.


tsid
Author(s): Andrea Del Prete, Justin Carpentier
autogenerated on Sun Jul 2 2023 02:21:51