|
| | ex_0_ur5_joint_space_control.amp = np.array([0.2, 0.3, 0.4, 0.0, 0.0, 0.0]) |
| |
| | ex_0_ur5_joint_space_control.ax = ax.reshape(robot.nv) |
| |
| | ex_0_ur5_joint_space_control.dt = conf.dt |
| |
| | ex_0_ur5_joint_space_control.dv = np.empty((robot.nv, N + 1)) * nan |
| |
| | ex_0_ur5_joint_space_control.dv_des = np.empty((robot.nv, N)) * nan |
| |
| | ex_0_ur5_joint_space_control.dv_ref = np.empty((robot.nv, N)) * nan |
| |
| | ex_0_ur5_joint_space_control.f |
| |
| | ex_0_ur5_joint_space_control.formulation = tsid.InverseDynamicsFormulationAccForce("tsid", robot, False) |
| |
| | ex_0_ur5_joint_space_control.HQPData = formulation.computeProblemData(t, q[:, i], v[:, i]) |
| |
| | ex_0_ur5_joint_space_control.label |
| |
| | ex_0_ur5_joint_space_control.leg = ax[i].legend() |
| |
| | ex_0_ur5_joint_space_control.loadModel |
| |
| | ex_0_ur5_joint_space_control.model = robot.model() |
| |
| | ex_0_ur5_joint_space_control.n = subprocess.getstatusoutput("ps aux |grep 'gepetto-gui'|grep -v 'grep'|wc -l") |
| |
| | ex_0_ur5_joint_space_control.N = conf.N_SIMULATION |
| |
| | ex_0_ur5_joint_space_control.phi = np.array([0.0, 0.5 * np.pi, 0.0, 0.0, 0.0, 0.0]) |
| |
| int | ex_0_ur5_joint_space_control.PLOT_JOINT_ACC = 1 |
| |
| int | ex_0_ur5_joint_space_control.PLOT_JOINT_POS = 1 |
| |
| int | ex_0_ur5_joint_space_control.PLOT_JOINT_VEL = 1 |
| |
| int | ex_0_ur5_joint_space_control.PLOT_TORQUES = 0 |
| |
| | ex_0_ur5_joint_space_control.postureTask = tsid.TaskJointPosture("task-posture", robot) |
| |
| | ex_0_ur5_joint_space_control.q = np.empty((robot.nq, N + 1)) * nan |
| |
| | ex_0_ur5_joint_space_control.q0 = conf.q0 |
| |
| | ex_0_ur5_joint_space_control.q_ref = np.empty((robot.nq, N)) * nan |
| |
| | ex_0_ur5_joint_space_control.robot = tsid.RobotWrapper(conf.urdf, [conf.path], False) |
| |
| | ex_0_ur5_joint_space_control.robot_display |
| |
| | ex_0_ur5_joint_space_control.samplePosture = trajPosture.computeNext() |
| |
| | ex_0_ur5_joint_space_control.sol = solver.solve(HQPData) |
| |
| | ex_0_ur5_joint_space_control.solver = tsid.SolverHQuadProgFast("qp solver") |
| |
| float | ex_0_ur5_joint_space_control.t = 0.0 |
| |
| | ex_0_ur5_joint_space_control.tau = np.empty((robot.na, N)) * nan |
| |
| | ex_0_ur5_joint_space_control.time = np.arange(0.0, N * conf.dt, conf.dt) |
| |
| | ex_0_ur5_joint_space_control.time_spent = time.time() - time_start |
| |
| | ex_0_ur5_joint_space_control.time_start = time.time() |
| |
| | ex_0_ur5_joint_space_control.trajPosture = tsid.TrajectoryEuclidianConstant("traj_joint", q0) |
| |
| int | ex_0_ur5_joint_space_control.two_pi_f = 2 * np.pi * np.array([1.0, 0.5, 0.3, 0.0, 0.0, 0.0]) |
| |
| | ex_0_ur5_joint_space_control.two_pi_f_amp = np.multiply(two_pi_f, amp) |
| |
| | ex_0_ur5_joint_space_control.two_pi_f_squared_amp = np.multiply(two_pi_f, two_pi_f_amp) |
| |
| int | ex_0_ur5_joint_space_control.USE_VIEWER = 1 |
| |
| | ex_0_ur5_joint_space_control.v = np.empty((robot.nv, N + 1)) * nan |
| |
| | ex_0_ur5_joint_space_control.v0 = np.zeros(robot.nv) |
| |
| | ex_0_ur5_joint_space_control.v_max = conf.v_max_scaling * model.velocityLimit |
| |
| float | ex_0_ur5_joint_space_control.v_mean = v[:, i] + 0.5 * dt * dv[:, i] |
| |
| | ex_0_ur5_joint_space_control.v_min = -v_max |
| |
| | ex_0_ur5_joint_space_control.v_ref = np.empty((robot.nv, N)) * nan |
| |