ex_4_conf.py File Reference

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Namespaces
	ex_4_conf

Variables
int	ex_4_conf.alpha = 10 ** (2)
int	ex_4_conf.beta = 0
list	ex_4_conf.CAMERA_TRANSFORM
	ex_4_conf.contactNormal
string	ex_4_conf.DATA_FILE_LIPM = "romeo_walking_traj_lipm.npz"
string	ex_4_conf.DATA_FILE_TSID = "romeo_walking_traj_tsid.npz"
int	ex_4_conf.DISPLAY_N = 20
float	ex_4_conf.dt = 0.002
float	ex_4_conf.dt_mpc = 0.1
	ex_4_conf.filename = str(Path(__file__).resolve().parent)
int	ex_4_conf.fMax = 1e6
float	ex_4_conf.fMin = 0.0
float	ex_4_conf.foot_scaling = 1.0
	ex_4_conf.foot_step_0 = np.array([0.0, -0.096])
float	ex_4_conf.g = 9.81
float	ex_4_conf.gain_vector = kp_posture * np.ones(nv - 6)
int	ex_4_conf.gamma = 10 ** (-1)
float	ex_4_conf.h = 0.58
float	ex_4_conf.kp_am = 10.0
float	ex_4_conf.kp_com = 10.0
float	ex_4_conf.kp_contact = 10.0
float	ex_4_conf.kp_foot = 10.0
float	ex_4_conf.kp_posture = 1.0
string	ex_4_conf.lf_frame_name = "LAnkleRoll"
int	ex_4_conf.LINE_WIDTH = 60
	ex_4_conf.linewidth
float	ex_4_conf.lxn = foot_scaling * 0.05
float	ex_4_conf.lxp = foot_scaling * 0.10
float	ex_4_conf.lyn = foot_scaling * 0.05
float	ex_4_conf.lyp = foot_scaling * 0.05
float	ex_4_conf.lz = 0.07
	ex_4_conf.masks_posture = np.ones(nv - 6)
float	ex_4_conf.mu = 0.3
int	ex_4_conf.nb_steps = 4
int	ex_4_conf.nv = 37
string	ex_4_conf.path = filename + "/../models/romeo"
	ex_4_conf.precision
int	ex_4_conf.PRINT_N = 500
string	ex_4_conf.rf_frame_name = "RAnkleRoll"
string	ex_4_conf.srdf = path + "/srdf/romeo_collision.srdf"
float	ex_4_conf.step_height = 0.05
float	ex_4_conf.step_length = 0.05
	ex_4_conf.suppress
float	ex_4_conf.T_post = 1.5
float	ex_4_conf.T_pre = 1.5
float	ex_4_conf.T_step = 1.2
float	ex_4_conf.tau_max_scaling = 1.45
string	ex_4_conf.urdf = path + "/urdf/romeo.urdf"
float	ex_4_conf.v_max_scaling = 0.8
	ex_4_conf.viewer = pin.visualize.GepettoVisualizer
int	ex_4_conf.w_am = 1e-4
float	ex_4_conf.w_com = 1.0
int	ex_4_conf.w_contact = 1e2
float	ex_4_conf.w_cop = 0.0
int	ex_4_conf.w_foot = 1e0
int	ex_4_conf.w_forceRef = 1e-5
float	ex_4_conf.w_joint_bounds = 0.0
int	ex_4_conf.w_posture = 1e-4
float	ex_4_conf.w_torque_bounds = 0.0