ex_4_long_conf Namespace Reference

Variables
int	alpha = 10 ** (2)
int	beta = 0
list	CAMERA_TRANSFORM
	contactNormal
string	DATA_FILE_LIPM = "romeo_walking_traj_long_lipm.npz"
string	DATA_FILE_TSID = "romeo_walking_traj_long_tsid.npz"
int	DISPLAY_N = 20
float	dt = 0.002
float	dt_mpc = 0.2
	filename = str(Path(__file__).resolve().parent)
float	fMax = 1000.0
float	fMin = 5.0
	foot_step_0 = np.array([0.0, -0.096])
float	g = 9.81
int	gamma = 10 ** (-1)
float	h = 0.58
float	kp_com = 10.0
float	kp_contact = 10.0
float	kp_foot = 10.0
float	kp_posture = 1.0
string	lf_frame_name = "LAnkleRoll"
int	LINE_WIDTH = 60
	linewidth
float	lxn = 0.07
float	lxp = 0.07
float	lyn = 0.05
float	lyp = 0.05
float	lz = 0.07
float	mu = 0.3
int	nb_steps = 6
string	path = filename + "/../models/romeo"
	precision
int	PRINT_N = 500
string	rf_frame_name = "RAnkleRoll"
string	srdf = path + "/srdf/romeo_collision.srdf"
float	step_height = 0.05
float	step_length = 0.2
	suppress
float	T_post = 2.0
float	T_pre = 1.0
float	T_step = 0.8
float	tau_max_scaling = 1.55
string	urdf = path + "/urdf/romeo.urdf"
float	v_max_scaling = 0.8
float	w_com = 1.0
int	w_foot = 1e-1
int	w_forceRef = 1e-5
float	w_joint_bounds = 0.0
int	w_posture = 1e-4
float	w_torque_bounds = 0.0

Detailed Description

Created on Thu Apr 18 09:47:07 2019

@author: student

Variable Documentation

alpha

int ex_4_long_conf.alpha = 10 ** (2)

Definition at line 38 of file ex_4_long_conf.py.

beta

int ex_4_long_conf.beta = 0

Definition at line 39 of file ex_4_long_conf.py.

CAMERA_TRANSFORM

list ex_4_long_conf.CAMERA_TRANSFORM

Initial value:

=  [
    3.578777551651001,
    1.2937744855880737,
    0.8885031342506409,
    0.4116811454296112,
    0.5468055009841919,
    0.6109083890914917,
    0.3978860676288605,
]

Definition at line 75 of file ex_4_long_conf.py.

contactNormal

ex_4_long_conf.contactNormal

Initial value:

=  np.matrix(
    [0.0, 0.0, 1.0]
).T

Definition at line 32 of file ex_4_long_conf.py.

DATA_FILE_LIPM

string ex_4_long_conf.DATA_FILE_LIPM = "romeo_walking_traj_long_lipm.npz"

Definition at line 13 of file ex_4_long_conf.py.

DATA_FILE_TSID

string ex_4_long_conf.DATA_FILE_TSID = "romeo_walking_traj_long_tsid.npz"

Definition at line 14 of file ex_4_long_conf.py.

DISPLAY_N

int ex_4_long_conf.DISPLAY_N = 20

Definition at line 74 of file ex_4_long_conf.py.

dt

float ex_4_long_conf.dt = 0.002

Definition at line 52 of file ex_4_long_conf.py.

dt_mpc

float ex_4_long_conf.dt_mpc = 0.2

Definition at line 44 of file ex_4_long_conf.py.

filename

ex_4_long_conf.filename = str(Path(__file__).resolve().parent)

Definition at line 18 of file ex_4_long_conf.py.

fMax

float ex_4_long_conf.fMax = 1000.0

Definition at line 29 of file ex_4_long_conf.py.

fMin

float ex_4_long_conf.fMin = 5.0

Definition at line 28 of file ex_4_long_conf.py.

foot_step_0

ex_4_long_conf.foot_step_0 = np.array([0.0, -0.096])

Definition at line 43 of file ex_4_long_conf.py.

g

float ex_4_long_conf.g = 9.81

Definition at line 42 of file ex_4_long_conf.py.

gamma

int ex_4_long_conf.gamma = 10 ** (-1)

Definition at line 40 of file ex_4_long_conf.py.

h

float ex_4_long_conf.h = 0.58

Definition at line 41 of file ex_4_long_conf.py.

kp_com

float ex_4_long_conf.kp_com = 10.0

Definition at line 68 of file ex_4_long_conf.py.

kp_contact

float ex_4_long_conf.kp_contact = 10.0

Definition at line 66 of file ex_4_long_conf.py.

kp_foot

float ex_4_long_conf.kp_foot = 10.0

Definition at line 67 of file ex_4_long_conf.py.

kp_posture

float ex_4_long_conf.kp_posture = 1.0

Definition at line 69 of file ex_4_long_conf.py.

lf_frame_name

string ex_4_long_conf.lf_frame_name = "LAnkleRoll"

Definition at line 31 of file ex_4_long_conf.py.

LINE_WIDTH

int ex_4_long_conf.LINE_WIDTH = 60

Definition at line 11 of file ex_4_long_conf.py.

linewidth

ex_4_long_conf.linewidth

Definition at line 10 of file ex_4_long_conf.py.

lxn

float ex_4_long_conf.lxn = 0.07

Definition at line 23 of file ex_4_long_conf.py.

lxp

float ex_4_long_conf.lxp = 0.07

Definition at line 22 of file ex_4_long_conf.py.

lyn

float ex_4_long_conf.lyn = 0.05

Definition at line 25 of file ex_4_long_conf.py.

lyp

float ex_4_long_conf.lyp = 0.05

Definition at line 24 of file ex_4_long_conf.py.

lz

float ex_4_long_conf.lz = 0.07

Definition at line 26 of file ex_4_long_conf.py.

mu

float ex_4_long_conf.mu = 0.3

Definition at line 27 of file ex_4_long_conf.py.

nb_steps

int ex_4_long_conf.nb_steps = 6

Definition at line 48 of file ex_4_long_conf.py.

path

string ex_4_long_conf.path = filename + "/../models/romeo"

Definition at line 19 of file ex_4_long_conf.py.

precision

ex_4_long_conf.precision

Definition at line 10 of file ex_4_long_conf.py.

PRINT_N

int ex_4_long_conf.PRINT_N = 500

Definition at line 73 of file ex_4_long_conf.py.

rf_frame_name

string ex_4_long_conf.rf_frame_name = "RAnkleRoll"

Definition at line 30 of file ex_4_long_conf.py.

srdf

string ex_4_long_conf.srdf = path + "/srdf/romeo_collision.srdf"

Definition at line 21 of file ex_4_long_conf.py.

step_height

float ex_4_long_conf.step_height = 0.05

Definition at line 47 of file ex_4_long_conf.py.

step_length

float ex_4_long_conf.step_length = 0.2

Definition at line 46 of file ex_4_long_conf.py.

suppress

ex_4_long_conf.suppress

Definition at line 10 of file ex_4_long_conf.py.

T_post

float ex_4_long_conf.T_post = 2.0

Definition at line 54 of file ex_4_long_conf.py.

T_pre

float ex_4_long_conf.T_pre = 1.0

Definition at line 53 of file ex_4_long_conf.py.

T_step

float ex_4_long_conf.T_step = 0.8

Definition at line 45 of file ex_4_long_conf.py.

tau_max_scaling

float ex_4_long_conf.tau_max_scaling = 1.55

Definition at line 63 of file ex_4_long_conf.py.

urdf

string ex_4_long_conf.urdf = path + "/urdf/romeo.urdf"

Definition at line 20 of file ex_4_long_conf.py.

v_max_scaling

float ex_4_long_conf.v_max_scaling = 0.8

Definition at line 64 of file ex_4_long_conf.py.

w_com

float ex_4_long_conf.w_com = 1.0

Definition at line 56 of file ex_4_long_conf.py.

w_foot

int ex_4_long_conf.w_foot = 1e-1

Definition at line 57 of file ex_4_long_conf.py.

w_forceRef

int ex_4_long_conf.w_forceRef = 1e-5

Definition at line 59 of file ex_4_long_conf.py.

w_joint_bounds

float ex_4_long_conf.w_joint_bounds = 0.0

Definition at line 61 of file ex_4_long_conf.py.

w_posture

int ex_4_long_conf.w_posture = 1e-4

Definition at line 58 of file ex_4_long_conf.py.

w_torque_bounds

float ex_4_long_conf.w_torque_bounds = 0.0

Definition at line 60 of file ex_4_long_conf.py.