ex_4_talos_conf.py File Reference

Go to the source code of this file.

Namespaces
	ex_4_talos_conf

Variables
int	ex_4_talos_conf.alpha = 10 ** (2)
int	ex_4_talos_conf.beta = 0
list	ex_4_talos_conf.CAMERA_TRANSFORM
	ex_4_talos_conf.contactNormal
string	ex_4_talos_conf.DATA_FILE_LIPM = "talos_walking_traj_lipm.npz"
string	ex_4_talos_conf.DATA_FILE_TSID = "talos_walking_traj_tsid.npz"
int	ex_4_talos_conf.DISPLAY_N = 20
float	ex_4_talos_conf.dt = 0.002
float	ex_4_talos_conf.dt_mpc = 0.1
	ex_4_talos_conf.filename = str(Path(__file__).resolve().parent)
int	ex_4_talos_conf.fMax = 1e6
float	ex_4_talos_conf.fMin = 0.0
float	ex_4_talos_conf.foot_scaling = 1.0
	ex_4_talos_conf.foot_step_0 = np.array([0.0, -0.085])
float	ex_4_talos_conf.g = 9.81
	ex_4_talos_conf.gain_vector
int	ex_4_talos_conf.gamma = 10 ** (-1)
float	ex_4_talos_conf.h = 0.88
float	ex_4_talos_conf.kp_com = 10.0
float	ex_4_talos_conf.kp_contact = 10.0
float	ex_4_talos_conf.kp_foot = 10.0
float	ex_4_talos_conf.kp_posture = 1.0
string	ex_4_talos_conf.lf_frame_name = "leg_left_sole_fix_joint"
int	ex_4_talos_conf.LINE_WIDTH = 60
	ex_4_talos_conf.linewidth
float	ex_4_talos_conf.lxn = foot_scaling * 0.05
float	ex_4_talos_conf.lxp = foot_scaling * 0.10
float	ex_4_talos_conf.lyn = foot_scaling * 0.05
float	ex_4_talos_conf.lyp = foot_scaling * 0.05
float	ex_4_talos_conf.lz = 0.0
	ex_4_talos_conf.masks_posture = np.ones(nv - 6)
	ex_4_talos_conf.modelPath = Path(getModelPath(urdf))
float	ex_4_talos_conf.mu = 0.3
int	ex_4_talos_conf.nb_steps = 4
int	ex_4_talos_conf.nv = 38
string	ex_4_talos_conf.path = modelPath / "../.."
	ex_4_talos_conf.precision
int	ex_4_talos_conf.PRINT_N = 500
string	ex_4_talos_conf.rf_frame_name = "leg_right_sole_fix_joint"
string	ex_4_talos_conf.srdf = modelPath / "talos_data/srdf/talos.srdf"
float	ex_4_talos_conf.step_height = 0.05
float	ex_4_talos_conf.step_length = 0.2
	ex_4_talos_conf.suppress
float	ex_4_talos_conf.T_post = 1.5
float	ex_4_talos_conf.T_pre = 1.5
float	ex_4_talos_conf.T_step = 1.2
float	ex_4_talos_conf.tau_max_scaling = 1.45
string	ex_4_talos_conf.urdf = "talos_data/robots/talos_reduced.urdf"
float	ex_4_talos_conf.v_max_scaling = 0.8
	ex_4_talos_conf.viewer = pin.visualize.GepettoVisualizer
float	ex_4_talos_conf.w_com = 1.0
int	ex_4_talos_conf.w_contact = 1e2
int	ex_4_talos_conf.w_foot = 1e0
int	ex_4_talos_conf.w_forceRef = 1e-5
float	ex_4_talos_conf.w_joint_bounds = 0.0
int	ex_4_talos_conf.w_posture = 1e-4
float	ex_4_talos_conf.w_torque_bounds = 0.0