|
| | ex_4_walking.alpha |
| |
| | ex_4_walking.ax |
| |
| int | ex_4_walking.c = 0 |
| |
| | ex_4_walking.com_acc = np.empty((3, N + N_post)) * nan |
| |
| tuple | ex_4_walking.com_acc_des |
| |
| | ex_4_walking.com_acc_ref = np.asarray(data["ddcom"]) |
| |
| | ex_4_walking.com_pos = np.empty((3, N + N_post)) * nan |
| |
| | ex_4_walking.com_pos_ref = np.asarray(data["com"]) |
| |
| | ex_4_walking.com_vel = np.empty((3, N + N_post)) * nan |
| |
| | ex_4_walking.com_vel_ref = np.asarray(data["dcom"]) |
| |
| | ex_4_walking.contact_phase = data["contact_phase"] |
| |
| | ex_4_walking.cop_LF = np.zeros((2, N + N_post)) |
| |
| | ex_4_walking.cop_ref = np.asarray(data["cop"]) |
| |
| | ex_4_walking.cop_RF = np.zeros((2, N + N_post)) |
| |
| | ex_4_walking.data = np.load(conf.DATA_FILE_TSID) |
| |
| | ex_4_walking.ddx_LF = np.empty((3, N + N_post)) * nan |
| |
| | ex_4_walking.ddx_LF_des = np.empty((3, N + N_post)) * nan |
| |
| | ex_4_walking.ddx_LF_ref = np.asarray(data["ddx_LF"]) |
| |
| | ex_4_walking.ddx_RF = np.empty((3, N + N_post)) * nan |
| |
| | ex_4_walking.ddx_RF_des = np.empty((3, N + N_post)) * nan |
| |
| | ex_4_walking.ddx_RF_ref = np.asarray(data["ddx_RF"]) |
| |
| | ex_4_walking.dv = tsid_biped.formulation.getAccelerations(sol) |
| |
| | ex_4_walking.dx_LF = np.empty((3, N + N_post)) * nan |
| |
| | ex_4_walking.dx_LF_ref = np.asarray(data["dx_LF"]) |
| |
| | ex_4_walking.dx_RF = np.empty((3, N + N_post)) * nan |
| |
| | ex_4_walking.dx_RF_ref = np.asarray(data["dx_RF"]) |
| |
| | ex_4_walking.f |
| |
| | ex_4_walking.f_LF = np.zeros((6, N + N_post)) |
| |
| | ex_4_walking.f_RF = np.zeros((6, N + N_post)) |
| |
| | ex_4_walking.HQPData = tsid_biped.formulation.computeProblemData(t, q, v) |
| |
| | ex_4_walking.label |
| |
| | ex_4_walking.leg = ax[i].legend() |
| |
| | ex_4_walking.N = data["com"].shape[1] |
| |
| | ex_4_walking.N_post = int(conf.T_post / conf.dt) |
| |
| | ex_4_walking.N_pre = int(conf.T_pre / conf.dt) |
| |
| | ex_4_walking.offset = x_rf - x_RF_ref[:, 0] |
| |
| int | ex_4_walking.PLOT_COM = 1 |
| |
| int | ex_4_walking.PLOT_COP = 1 |
| |
| int | ex_4_walking.PLOT_FOOT_TRAJ = 0 |
| |
| int | ex_4_walking.PLOT_JOINT_VEL = 0 |
| |
| int | ex_4_walking.PLOT_TORQUES = 0 |
| |
| | ex_4_walking.q |
| |
| list | ex_4_walking.q_list = [] |
| |
| | ex_4_walking.q_log = np.zeros((tsid_biped.robot.nq, N + N_post)) |
| |
| list | ex_4_walking.qp_data_list = [] |
| |
| string | ex_4_walking.replay = input("Play video again? [Y]/n: ") or "Y" |
| |
| | ex_4_walking.sol = tsid_biped.solver.solve(HQPData) |
| |
| | ex_4_walking.solver |
| |
| | ex_4_walking.t = -conf.T_pre |
| |
| | ex_4_walking.T_LF = tsid_biped.contactLF.getForceGeneratorMatrix |
| |
| | ex_4_walking.T_RF = tsid_biped.contactRF.getForceGeneratorMatrix |
| |
| | ex_4_walking.tau = np.zeros((tsid_biped.robot.na, N + N_post)) |
| |
| tuple | ex_4_walking.tau_normalized |
| |
| | ex_4_walking.time = np.arange(0.0, (N + N_post) * conf.dt, conf.dt) |
| |
| | ex_4_walking.time_spent = time.time() - time_start |
| |
| | ex_4_walking.time_start = time.time() |
| |
| | ex_4_walking.tsid_biped = TsidBiped(conf, conf.viewer) |
| |
| int | ex_4_walking.USE_EIQUADPROG = 1 |
| |
| int | ex_4_walking.USE_OSQP = 0 |
| |
| int | ex_4_walking.USE_PROXQP = 0 |
| |
| | ex_4_walking.v |
| |
| | ex_4_walking.v_log = np.zeros((tsid_biped.robot.nv, N + N_post)) |
| |
| tuple | ex_4_walking.v_normalized |
| |
| int | ex_4_walking.VERBOSE = 0 |
| |
| | ex_4_walking.x_LF = np.empty((3, N + N_post)) * nan |
| |
| | ex_4_walking.x_LF_ref = np.asarray(data["x_LF"]) |
| |
| | ex_4_walking.x_RF = np.empty((3, N + N_post)) * nan |
| |
| | ex_4_walking.x_rf = tsid_biped.get_placement_RF().translation |
| |
| | ex_4_walking.x_RF_ref = np.asarray(data["x_RF"]) |
| |