ur5_reaching_conf.py

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# -*- coding: utf-8 -*-
"""
Created on Thu Apr 18 09:47:07 2019

@author: student
"""

import os

import numpy as np

np.set_printoptions(precision=3, linewidth=200, suppress=True)
LINE_WIDTH = 60

N_SIMULATION = 500  # number of time steps simulated
dt = 0.002  # controller time step
q0 = np.array([0.0, -1.0, 0.7, 0.0, 0.0, 0.0])  # initial configuration

# REFERENCE SINUSOIDAL TRAJECTORY
amp = np.array([0.0, 0.0, 0.0])  # amplitude
phi = np.array([0.0, 0.5 * np.pi, 0.0])  # phase
two_pi_f = 2 * np.pi * np.array([1.0, 0.5, 0.5])  # frequency (time 2 PI)
offset = np.array([0.1, 0.0, 0.0])

w_ee = 1.0  # weight of end-effector task
w_posture = 1e-3  # weight of joint posture task
w_torque_bounds = 1.0  # weight of the torque bounds
w_joint_bounds = 1.0  # weight of the joint bounds

kp_ee = 100.0  # proportional gain of end-effector constraint
kp_posture = 1.0  # proportional gain of joint posture task

tau_max_scaling = 0.4  # scaling factor of torque bounds
v_max_scaling = 0.4  # scaling factor of velocity bounds

ee_frame_name = "ee_fixed_joint"  # end-effector frame name
ee_task_mask = np.array([1.0, 1, 1, 0, 0, 0])
ee_task_local_frame = False  # specifies whether task is formulated in local frame

PRINT_N = 500  # print every PRINT_N time steps
DISPLAY_N = 20  # update robot configuration in viwewer every DISPLAY_N time steps
CAMERA_TRANSFORM = [
    2.582354784011841,
    1.620774507522583,
    1.0674564838409424,
    0.2770655155181885,
    0.5401807427406311,
    0.6969326734542847,
    0.3817386031150818,
]
SPHERE_RADIUS = 0.03
REF_SPHERE_RADIUS = 0.03
EE_SPHERE_COLOR = (1, 0.5, 0, 0.5)
EE_REF_SPHERE_COLOR = (1, 0, 0, 0.5)

from os.path import join

from example_robot_data.robots_loader import getModelPath

urdf = "ur_description/urdf/ur5_robot.urdf"
path = getModelPath(urdf)
urdf = join(path, urdf)
path = join(path, "../..")