Variables | |
| list | CAMERA_TRANSFORM |
| tuple | COM_REF_SPHERE_COLOR = (1, 0, 0, 0.5) |
| tuple | COM_SPHERE_COLOR = (1, 0.5, 0, 0.5) |
| contactNormal | |
| int | DISPLAY_N = 20 |
| float | dt = 0.002 |
| filename = Path(__file__).resolve().parent | |
| float | fMax = 1000.0 |
| float | fMin = 5.0 |
| float | gain_vector = kp_posture * np.ones(nv - 6) |
| float | kp_am = 10.0 |
| 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" |
| tuple | LF_REF_SPHERE_COLOR = (0.5, 0, 1, 0.5) |
| tuple | LF_SPHERE_COLOR = (0, 0, 1, 0.5) |
| int | LINE_WIDTH = 60 |
| linewidth | |
| float | lxn = 0.05 |
| float | lxp = 0.10 |
| float | lyn = 0.05 |
| float | lyp = 0.05 |
| float | lz = 0.07 |
| masks_posture = np.ones(nv - 6) | |
| float | mu = 0.3 |
| int | N_SIMULATION = 4000 |
| int | nv = 37 |
| string | path = filename / "../models/romeo" |
| precision | |
| int | PRINT_N = 500 |
| float | REF_SPHERE_RADIUS = 0.03 |
| string | rf_frame_name = "RAnkleRoll" |
| tuple | RF_REF_SPHERE_COLOR = (0, 1, 0.5, 0.5) |
| tuple | RF_SPHERE_COLOR = (0, 1, 0, 0.5) |
| float | SPHERE_RADIUS = 0.03 |
| string | srdf = path / "srdf/romeo_collision.srdf" |
| suppress | |
| float | tau_max_scaling = 1.45 |
| string | urdf = path / "urdf/romeo.urdf" |
| float | v_max_scaling = 0.8 |
| viewer = pin.visualize.GepettoVisualizer | |
| float | w_am = 0.0 |
| float | w_com = 1.0 |
| float | w_contact = -1.0 |
| float | w_cop = 0.0 |
| 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 = 1.0 |
Created on Thu Apr 18 09:47:07 2019 @author: student
| list romeo_conf.CAMERA_TRANSFORM |
Definition at line 56 of file romeo_conf.py.
| tuple romeo_conf.COM_REF_SPHERE_COLOR = (1, 0, 0, 0.5) |
Definition at line 69 of file romeo_conf.py.
| tuple romeo_conf.COM_SPHERE_COLOR = (1, 0.5, 0, 0.5) |
Definition at line 68 of file romeo_conf.py.
| romeo_conf.contactNormal |
Definition at line 28 of file romeo_conf.py.
| int romeo_conf.DISPLAY_N = 20 |
Definition at line 55 of file romeo_conf.py.
| float romeo_conf.dt = 0.002 |
Definition at line 15 of file romeo_conf.py.
| romeo_conf.filename = Path(__file__).resolve().parent |
Definition at line 75 of file romeo_conf.py.
| float romeo_conf.fMax = 1000.0 |
Definition at line 25 of file romeo_conf.py.
| float romeo_conf.fMin = 5.0 |
Definition at line 24 of file romeo_conf.py.
| float romeo_conf.gain_vector = kp_posture * np.ones(nv - 6) |
Definition at line 50 of file romeo_conf.py.
| float romeo_conf.kp_am = 10.0 |
Definition at line 48 of file romeo_conf.py.
| float romeo_conf.kp_com = 10.0 |
Definition at line 47 of file romeo_conf.py.
| float romeo_conf.kp_contact = 10.0 |
Definition at line 45 of file romeo_conf.py.
| float romeo_conf.kp_foot = 10.0 |
Definition at line 46 of file romeo_conf.py.
| float romeo_conf.kp_posture = 1.0 |
Definition at line 49 of file romeo_conf.py.
| string romeo_conf.lf_frame_name = "LAnkleRoll" |
Definition at line 27 of file romeo_conf.py.
| tuple romeo_conf.LF_REF_SPHERE_COLOR = (0.5, 0, 1, 0.5) |
Definition at line 73 of file romeo_conf.py.
| tuple romeo_conf.LF_SPHERE_COLOR = (0, 0, 1, 0.5) |
Definition at line 72 of file romeo_conf.py.
| int romeo_conf.LINE_WIDTH = 60 |
Definition at line 12 of file romeo_conf.py.
| romeo_conf.linewidth |
Definition at line 11 of file romeo_conf.py.
| float romeo_conf.lxn = 0.05 |
Definition at line 19 of file romeo_conf.py.
| float romeo_conf.lxp = 0.10 |
Definition at line 18 of file romeo_conf.py.
| float romeo_conf.lyn = 0.05 |
Definition at line 21 of file romeo_conf.py.
| float romeo_conf.lyp = 0.05 |
Definition at line 20 of file romeo_conf.py.
| float romeo_conf.lz = 0.07 |
Definition at line 22 of file romeo_conf.py.
Definition at line 51 of file romeo_conf.py.
| float romeo_conf.mu = 0.3 |
Definition at line 23 of file romeo_conf.py.
| int romeo_conf.N_SIMULATION = 4000 |
Definition at line 14 of file romeo_conf.py.
| int romeo_conf.nv = 37 |
Definition at line 16 of file romeo_conf.py.
| string romeo_conf.path = filename / "../models/romeo" |
Definition at line 76 of file romeo_conf.py.
| romeo_conf.precision |
Definition at line 11 of file romeo_conf.py.
| int romeo_conf.PRINT_N = 500 |
Definition at line 54 of file romeo_conf.py.
| float romeo_conf.REF_SPHERE_RADIUS = 0.03 |
Definition at line 67 of file romeo_conf.py.
| string romeo_conf.rf_frame_name = "RAnkleRoll" |
Definition at line 26 of file romeo_conf.py.
| tuple romeo_conf.RF_REF_SPHERE_COLOR = (0, 1, 0.5, 0.5) |
Definition at line 71 of file romeo_conf.py.
| tuple romeo_conf.RF_SPHERE_COLOR = (0, 1, 0, 0.5) |
Definition at line 70 of file romeo_conf.py.
| float romeo_conf.SPHERE_RADIUS = 0.03 |
Definition at line 66 of file romeo_conf.py.
| string romeo_conf.srdf = path / "srdf/romeo_collision.srdf" |
Definition at line 78 of file romeo_conf.py.
| romeo_conf.suppress |
Definition at line 11 of file romeo_conf.py.
| float romeo_conf.tau_max_scaling = 1.45 |
Definition at line 42 of file romeo_conf.py.
| string romeo_conf.urdf = path / "urdf/romeo.urdf" |
Definition at line 77 of file romeo_conf.py.
| float romeo_conf.v_max_scaling = 0.8 |
Definition at line 43 of file romeo_conf.py.
| romeo_conf.viewer = pin.visualize.GepettoVisualizer |
Definition at line 53 of file romeo_conf.py.
| float romeo_conf.w_am = 0.0 |
Definition at line 34 of file romeo_conf.py.
| float romeo_conf.w_com = 1.0 |
Definition at line 32 of file romeo_conf.py.
| float romeo_conf.w_contact = -1.0 |
Definition at line 36 of file romeo_conf.py.
| float romeo_conf.w_cop = 0.0 |
Definition at line 33 of file romeo_conf.py.
| int romeo_conf.w_foot = 1e-1 |
Definition at line 35 of file romeo_conf.py.
| int romeo_conf.w_forceRef = 1e-5 |
Definition at line 38 of file romeo_conf.py.
| float romeo_conf.w_joint_bounds = 0.0 |
Definition at line 40 of file romeo_conf.py.
| int romeo_conf.w_posture = 1e-4 |
Definition at line 37 of file romeo_conf.py.
| float romeo_conf.w_torque_bounds = 1.0 |
Definition at line 39 of file romeo_conf.py.