ex_0_ur5_joint_space_control Namespace Reference

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

Variable Documentation

amp

ex_0_ur5_joint_space_control.amp = np.array([0.2, 0.3, 0.4, 0.0, 0.0, 0.0])

Definition at line 80 of file ex_0_ur5_joint_space_control.py.

ax

ex_0_ur5_joint_space_control.ax = ax.reshape(robot.nv)

Definition at line 137 of file ex_0_ur5_joint_space_control.py.

dt

ex_0_ur5_joint_space_control.dt = conf.dt

Definition at line 87 of file ex_0_ur5_joint_space_control.py.

dv

ex_0_ur5_joint_space_control.dv = np.empty((robot.nv, N + 1)) * nan

Definition at line 73 of file ex_0_ur5_joint_space_control.py.

dv_des

ex_0_ur5_joint_space_control.dv_des = np.empty((robot.nv, N)) * nan

Definition at line 77 of file ex_0_ur5_joint_space_control.py.

dv_ref

ex_0_ur5_joint_space_control.dv_ref = np.empty((robot.nv, N)) * nan

Definition at line 76 of file ex_0_ur5_joint_space_control.py.

f

ex_0_ur5_joint_space_control.f

Definition at line 137 of file ex_0_ur5_joint_space_control.py.

formulation

ex_0_ur5_joint_space_control.formulation = tsid.InverseDynamicsFormulationAccForce("tsid", robot, False)

Definition at line 29 of file ex_0_ur5_joint_space_control.py.

HQPData

ex_0_ur5_joint_space_control.HQPData = formulation.computeProblemData(t, q[:, i], v[:, i])

Definition at line 102 of file ex_0_ur5_joint_space_control.py.

label

ex_0_ur5_joint_space_control.label

Definition at line 140 of file ex_0_ur5_joint_space_control.py.

leg

ex_0_ur5_joint_space_control.leg = ax[i].legend()

Definition at line 144 of file ex_0_ur5_joint_space_control.py.

loadModel

ex_0_ur5_joint_space_control.loadModel

Definition at line 63 of file ex_0_ur5_joint_space_control.py.

model

ex_0_ur5_joint_space_control.model = robot.model()

Definition at line 27 of file ex_0_ur5_joint_space_control.py.

n

ex_0_ur5_joint_space_control.n = subprocess.getstatusoutput("ps aux |grep 'gepetto-gui'|grep -v 'grep'|wc -l")

Definition at line 58 of file ex_0_ur5_joint_space_control.py.

N

ex_0_ur5_joint_space_control.N = conf.N_SIMULATION

Definition at line 69 of file ex_0_ur5_joint_space_control.py.

phi

ex_0_ur5_joint_space_control.phi = np.array([0.0, 0.5 * np.pi, 0.0, 0.0, 0.0, 0.0])

Definition at line 81 of file ex_0_ur5_joint_space_control.py.

PLOT_JOINT_ACC

int ex_0_ur5_joint_space_control.PLOT_JOINT_ACC = 1

Definition at line 22 of file ex_0_ur5_joint_space_control.py.

PLOT_JOINT_POS

int ex_0_ur5_joint_space_control.PLOT_JOINT_POS = 1

Definition at line 20 of file ex_0_ur5_joint_space_control.py.

PLOT_JOINT_VEL

int ex_0_ur5_joint_space_control.PLOT_JOINT_VEL = 1

Definition at line 21 of file ex_0_ur5_joint_space_control.py.

PLOT_TORQUES

int ex_0_ur5_joint_space_control.PLOT_TORQUES = 0

Definition at line 23 of file ex_0_ur5_joint_space_control.py.

postureTask

ex_0_ur5_joint_space_control.postureTask = tsid.TaskJointPosture("task-posture", robot)

Definition at line 34 of file ex_0_ur5_joint_space_control.py.

q

ex_0_ur5_joint_space_control.q = np.empty((robot.nq, N + 1)) * nan

Definition at line 71 of file ex_0_ur5_joint_space_control.py.

q0

ex_0_ur5_joint_space_control.q0 = conf.q0

Definition at line 30 of file ex_0_ur5_joint_space_control.py.

q_ref

ex_0_ur5_joint_space_control.q_ref = np.empty((robot.nq, N)) * nan

Definition at line 74 of file ex_0_ur5_joint_space_control.py.

robot

ex_0_ur5_joint_space_control.robot = tsid.RobotWrapper(conf.urdf, [conf.path], False)

Definition at line 26 of file ex_0_ur5_joint_space_control.py.

robot_display

ex_0_ur5_joint_space_control.robot_display

Initial value:

=  pin.RobotWrapper.BuildFromURDF(
        conf.urdf,
        [
            conf.path,
        ],
    )

Definition at line 52 of file ex_0_ur5_joint_space_control.py.

samplePosture

ex_0_ur5_joint_space_control.samplePosture = trajPosture.computeNext()

Definition at line 78 of file ex_0_ur5_joint_space_control.py.

sol

ex_0_ur5_joint_space_control.sol = solver.solve(HQPData)

Definition at line 103 of file ex_0_ur5_joint_space_control.py.

solver

ex_0_ur5_joint_space_control.solver = tsid.SolverHQuadProgFast("qp solver")

Definition at line 48 of file ex_0_ur5_joint_space_control.py.

t

float ex_0_ur5_joint_space_control.t = 0.0

Definition at line 86 of file ex_0_ur5_joint_space_control.py.

tau

ex_0_ur5_joint_space_control.tau = np.empty((robot.na, N)) * nan

Definition at line 70 of file ex_0_ur5_joint_space_control.py.

time

ex_0_ur5_joint_space_control.time = np.arange(0.0, N * conf.dt, conf.dt)

Definition at line 134 of file ex_0_ur5_joint_space_control.py.

time_spent

ex_0_ur5_joint_space_control.time_spent = time.time() - time_start

Definition at line 129 of file ex_0_ur5_joint_space_control.py.

time_start

ex_0_ur5_joint_space_control.time_start = time.time()

Definition at line 91 of file ex_0_ur5_joint_space_control.py.

trajPosture

ex_0_ur5_joint_space_control.trajPosture = tsid.TrajectoryEuclidianConstant("traj_joint", q0)

Definition at line 39 of file ex_0_ur5_joint_space_control.py.

two_pi_f

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])

Definition at line 82 of file ex_0_ur5_joint_space_control.py.

two_pi_f_amp

ex_0_ur5_joint_space_control.two_pi_f_amp = np.multiply(two_pi_f, amp)

Definition at line 83 of file ex_0_ur5_joint_space_control.py.

two_pi_f_squared_amp

ex_0_ur5_joint_space_control.two_pi_f_squared_amp = np.multiply(two_pi_f, two_pi_f_amp)

Definition at line 84 of file ex_0_ur5_joint_space_control.py.

USE_VIEWER

int ex_0_ur5_joint_space_control.USE_VIEWER = 1

Definition at line 24 of file ex_0_ur5_joint_space_control.py.

v

ex_0_ur5_joint_space_control.v = np.empty((robot.nv, N + 1)) * nan

Definition at line 72 of file ex_0_ur5_joint_space_control.py.

v0

ex_0_ur5_joint_space_control.v0 = np.zeros(robot.nv)

Definition at line 31 of file ex_0_ur5_joint_space_control.py.

v_max

ex_0_ur5_joint_space_control.v_max = conf.v_max_scaling * model.velocityLimit

Definition at line 42 of file ex_0_ur5_joint_space_control.py.

v_mean

float ex_0_ur5_joint_space_control.v_mean = v[:, i] + 0.5 * dt * dv[:, i]

Definition at line 121 of file ex_0_ur5_joint_space_control.py.

v_min

ex_0_ur5_joint_space_control.v_min = -v_max

Definition at line 43 of file ex_0_ur5_joint_space_control.py.

v_ref

ex_0_ur5_joint_space_control.v_ref = np.empty((robot.nv, N)) * nan

Definition at line 75 of file ex_0_ur5_joint_space_control.py.