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