|
| | ex_1_ur5.aEE = np.zeros(6) |
| |
| | ex_1_ur5.ax = ax.reshape(tsid.robot.nv) |
| |
| | ex_1_ur5.dv = tsid.formulation.getAccelerations(sol) |
| |
| | ex_1_ur5.ee_acc = np.empty((3, N)) * nan |
| |
| | ex_1_ur5.ee_acc_des = np.empty((3, N)) * nan |
| |
| | ex_1_ur5.ee_acc_ref = np.empty((3, N)) * nan |
| |
| | ex_1_ur5.ee_pos = np.empty((3, N)) * nan |
| |
| | ex_1_ur5.ee_pos_ref = np.empty((3, N)) * nan |
| |
| | ex_1_ur5.ee_vel = np.empty((3, N)) * nan |
| |
| | ex_1_ur5.ee_vel_ref = np.empty((3, N)) * nan |
| |
| | ex_1_ur5.f |
| |
| | ex_1_ur5.HQPData = tsid.formulation.computeProblemData(t, q[:, i], v[:, i]) |
| |
| | ex_1_ur5.label |
| |
| | ex_1_ur5.leg = ax[i].legend() |
| |
| | ex_1_ur5.N = conf.N_SIMULATION |
| |
| | ex_1_ur5.offset = sampleEE.pos() |
| |
| | ex_1_ur5.pEE = offset.copy() |
| |
| int | ex_1_ur5.PLOT_EE_ACC = 0 |
| |
| int | ex_1_ur5.PLOT_EE_POS = 1 |
| |
| int | ex_1_ur5.PLOT_EE_VEL = 0 |
| |
| int | ex_1_ur5.PLOT_JOINT_VEL = 0 |
| |
| int | ex_1_ur5.PLOT_TORQUES = 0 |
| |
| | ex_1_ur5.q = np.empty((tsid.robot.nq, N + 1)) * nan |
| |
| | ex_1_ur5.sampleEE = tsid.trajEE.computeNext() |
| |
| | ex_1_ur5.samplePosture = tsid.trajPosture.computeNext() |
| |
| | ex_1_ur5.sol = tsid.solver.solve(HQPData) |
| |
| float | ex_1_ur5.t = 0.0 |
| |
| | ex_1_ur5.tau = np.empty((tsid.robot.na, N)) * nan |
| |
| | ex_1_ur5.time = np.arange(0.0, N * conf.dt, conf.dt) |
| |
| | ex_1_ur5.time_spent = time.time() - time_start |
| |
| | ex_1_ur5.time_start = time.time() |
| |
| | ex_1_ur5.tsid = TsidManipulator(conf) |
| |
| | ex_1_ur5.two_pi_f_amp = conf.two_pi_f * conf.amp |
| |
| | ex_1_ur5.two_pi_f_squared_amp = conf.two_pi_f * two_pi_f_amp |
| |
| | ex_1_ur5.v = np.empty((tsid.robot.nv, N + 1)) * nan |
| |
| | ex_1_ur5.vEE = np.zeros(6) |
| |