Variables
ex_4_walking Namespace Reference

Variables

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

Variable Documentation

◆ alpha

ex_4_walking.alpha

Definition at line 359 of file ex_4_walking.py.

◆ ax

ex_4_walking.ax

Definition at line 244 of file ex_4_walking.py.

◆ c

int ex_4_walking.c = 0

Definition at line 115 of file ex_4_walking.py.

◆ com_acc

ex_4_walking.com_acc = np.empty((3, N + N_post)) * nan

Definition at line 72 of file ex_4_walking.py.

◆ com_acc_des

tuple ex_4_walking.com_acc_des
Initial value:
1 = (
2  np.empty((3, N + N_post)) * nan
3 )

Definition at line 100 of file ex_4_walking.py.

◆ com_acc_ref

ex_4_walking.com_acc_ref = np.asarray(data["ddcom"])

Definition at line 92 of file ex_4_walking.py.

◆ com_pos

ex_4_walking.com_pos = np.empty((3, N + N_post)) * nan

Definition at line 70 of file ex_4_walking.py.

◆ com_pos_ref

ex_4_walking.com_pos_ref = np.asarray(data["com"])

Definition at line 90 of file ex_4_walking.py.

◆ com_vel

ex_4_walking.com_vel = np.empty((3, N + N_post)) * nan

Definition at line 71 of file ex_4_walking.py.

◆ com_vel_ref

ex_4_walking.com_vel_ref = np.asarray(data["dcom"])

Definition at line 91 of file ex_4_walking.py.

◆ contact_phase

ex_4_walking.contact_phase = data["contact_phase"]

Definition at line 89 of file ex_4_walking.py.

◆ cop_LF

ex_4_walking.cop_LF = np.zeros((2, N + N_post))

Definition at line 84 of file ex_4_walking.py.

◆ cop_ref

ex_4_walking.cop_ref = np.asarray(data["cop"])

Definition at line 99 of file ex_4_walking.py.

◆ cop_RF

ex_4_walking.cop_RF = np.zeros((2, N + N_post))

Definition at line 83 of file ex_4_walking.py.

◆ data

ex_4_walking.data = np.load(conf.DATA_FILE_TSID)

Definition at line 30 of file ex_4_walking.py.

◆ ddx_LF

ex_4_walking.ddx_LF = np.empty((3, N + N_post)) * nan

Definition at line 75 of file ex_4_walking.py.

◆ ddx_LF_des

ex_4_walking.ddx_LF_des = np.empty((3, N + N_post)) * nan

Definition at line 76 of file ex_4_walking.py.

◆ ddx_LF_ref

ex_4_walking.ddx_LF_ref = np.asarray(data["ddx_LF"])

Definition at line 98 of file ex_4_walking.py.

◆ ddx_RF

ex_4_walking.ddx_RF = np.empty((3, N + N_post)) * nan

Definition at line 79 of file ex_4_walking.py.

◆ ddx_RF_des

ex_4_walking.ddx_RF_des = np.empty((3, N + N_post)) * nan

Definition at line 80 of file ex_4_walking.py.

◆ ddx_RF_ref

ex_4_walking.ddx_RF_ref = np.asarray(data["ddx_RF"])

Definition at line 95 of file ex_4_walking.py.

◆ dv

ex_4_walking.dv = tsid_biped.formulation.getAccelerations(sol)

Definition at line 160 of file ex_4_walking.py.

◆ dx_LF

ex_4_walking.dx_LF = np.empty((3, N + N_post)) * nan

Definition at line 74 of file ex_4_walking.py.

◆ dx_LF_ref

ex_4_walking.dx_LF_ref = np.asarray(data["dx_LF"])

Definition at line 97 of file ex_4_walking.py.

◆ dx_RF

ex_4_walking.dx_RF = np.empty((3, N + N_post)) * nan

Definition at line 78 of file ex_4_walking.py.

◆ dx_RF_ref

ex_4_walking.dx_RF_ref = np.asarray(data["dx_RF"])

Definition at line 94 of file ex_4_walking.py.

◆ f

ex_4_walking.f

Definition at line 244 of file ex_4_walking.py.

◆ f_LF

ex_4_walking.f_LF = np.zeros((6, N + N_post))

Definition at line 82 of file ex_4_walking.py.

◆ f_RF

ex_4_walking.f_RF = np.zeros((6, N + N_post))

Definition at line 81 of file ex_4_walking.py.

◆ HQPData

ex_4_walking.HQPData = tsid_biped.formulation.computeProblemData(t, q, v)

Definition at line 146 of file ex_4_walking.py.

◆ label

ex_4_walking.label

Definition at line 246 of file ex_4_walking.py.

◆ leg

ex_4_walking.leg = ax[i].legend()

Definition at line 250 of file ex_4_walking.py.

◆ N

ex_4_walking.N = data["com"].shape[1]

Definition at line 66 of file ex_4_walking.py.

◆ N_post

ex_4_walking.N_post = int(conf.T_post / conf.dt)

Definition at line 68 of file ex_4_walking.py.

◆ N_pre

ex_4_walking.N_pre = int(conf.T_pre / conf.dt)

Definition at line 67 of file ex_4_walking.py.

◆ offset

ex_4_walking.offset = x_rf - x_RF_ref[:, 0]

Definition at line 105 of file ex_4_walking.py.

◆ PLOT_COM

int ex_4_walking.PLOT_COM = 1

Definition at line 23 of file ex_4_walking.py.

◆ PLOT_COP

int ex_4_walking.PLOT_COP = 1

Definition at line 24 of file ex_4_walking.py.

◆ PLOT_FOOT_TRAJ

int ex_4_walking.PLOT_FOOT_TRAJ = 0

Definition at line 25 of file ex_4_walking.py.

◆ PLOT_JOINT_VEL

int ex_4_walking.PLOT_JOINT_VEL = 0

Definition at line 27 of file ex_4_walking.py.

◆ PLOT_TORQUES

int ex_4_walking.PLOT_TORQUES = 0

Definition at line 26 of file ex_4_walking.py.

◆ q

ex_4_walking.q

Definition at line 112 of file ex_4_walking.py.

◆ q_list

list ex_4_walking.q_list = []

Definition at line 116 of file ex_4_walking.py.

◆ q_log

ex_4_walking.q_log = np.zeros((tsid_biped.robot.nq, N + N_post))

Definition at line 86 of file ex_4_walking.py.

◆ qp_data_list

list ex_4_walking.qp_data_list = []

Definition at line 114 of file ex_4_walking.py.

◆ replay

string ex_4_walking.replay = input("Play video again? [Y]/n: ") or "Y"

Definition at line 234 of file ex_4_walking.py.

◆ sol

ex_4_walking.sol = tsid_biped.solver.solve(HQPData)

Definition at line 147 of file ex_4_walking.py.

◆ solver

ex_4_walking.solver

Definition at line 42 of file ex_4_walking.py.

◆ t

ex_4_walking.t = -conf.T_pre

Definition at line 111 of file ex_4_walking.py.

◆ T_LF

ex_4_walking.T_LF = tsid_biped.contactLF.getForceGeneratorMatrix

Definition at line 183 of file ex_4_walking.py.

◆ T_RF

ex_4_walking.T_RF = tsid_biped.contactRF.getForceGeneratorMatrix

Definition at line 175 of file ex_4_walking.py.

◆ tau

ex_4_walking.tau = np.zeros((tsid_biped.robot.na, N + N_post))

Definition at line 85 of file ex_4_walking.py.

◆ tau_normalized

ex_4_walking.tau_normalized
Initial value:
1 = (
2  2
3  * (tau[i, :] - tsid_biped.tau_min[i])
4  / (tsid_biped.tau_max[i] - tsid_biped.tau_min[i])
5  - 1
6  )

Definition at line 350 of file ex_4_walking.py.

◆ time

ex_4_walking.time = np.arange(0.0, (N + N_post) * conf.dt, conf.dt)

Definition at line 241 of file ex_4_walking.py.

◆ time_spent

ex_4_walking.time_spent = time.time() - time_start

Definition at line 229 of file ex_4_walking.py.

◆ time_start

ex_4_walking.time_start = time.time()

Definition at line 120 of file ex_4_walking.py.

◆ tsid_biped

ex_4_walking.tsid_biped = TsidBiped(conf, conf.viewer)

Definition at line 37 of file ex_4_walking.py.

◆ USE_EIQUADPROG

int ex_4_walking.USE_EIQUADPROG = 1

Definition at line 18 of file ex_4_walking.py.

◆ USE_OSQP

int ex_4_walking.USE_OSQP = 0

Definition at line 20 of file ex_4_walking.py.

◆ USE_PROXQP

int ex_4_walking.USE_PROXQP = 0

Definition at line 19 of file ex_4_walking.py.

◆ v

ex_4_walking.v

Definition at line 112 of file ex_4_walking.py.

◆ v_log

ex_4_walking.v_log = np.zeros((tsid_biped.robot.nv, N + N_post))

Definition at line 87 of file ex_4_walking.py.

◆ v_normalized

ex_4_walking.v_normalized
Initial value:
1 = (
2  2
3  * (v_log[6 + i, :] - tsid_biped.v_min[i])
4  / (tsid_biped.v_max[i] - tsid_biped.v_min[i])
5  - 1
6  )

Definition at line 371 of file ex_4_walking.py.

◆ VERBOSE

int ex_4_walking.VERBOSE = 0

Definition at line 21 of file ex_4_walking.py.

◆ x_LF

ex_4_walking.x_LF = np.empty((3, N + N_post)) * nan

Definition at line 73 of file ex_4_walking.py.

◆ x_LF_ref

ex_4_walking.x_LF_ref = np.asarray(data["x_LF"])

Definition at line 96 of file ex_4_walking.py.

◆ x_RF

ex_4_walking.x_RF = np.empty((3, N + N_post)) * nan

Definition at line 77 of file ex_4_walking.py.

◆ x_rf

ex_4_walking.x_rf = tsid_biped.get_placement_RF().translation

Definition at line 104 of file ex_4_walking.py.

◆ x_RF_ref

ex_4_walking.x_RF_ref = np.asarray(data["x_RF"])

Definition at line 93 of file ex_4_walking.py.


tsid
Author(s): Andrea Del Prete, Justin Carpentier
autogenerated on Sat May 3 2025 02:48:17