talos_conf Namespace Reference

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
float	fMax = 1000.0
float	fMin = 5.0
	gain_vector
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 = "leg_left_sole_fix_joint"
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 = 0.10
float	lxp = 0.10
float	lyn = 0.065
float	lyp = 0.065
float	lz = 0.0
	masks_posture = np.ones(32)
float	mu = 0.3
int	N_SIMULATION = 4000
	path = Path(getModelPath(urdf))
	precision
int	PRINT_N = 500
float	REF_SPHERE_RADIUS = 0.03
string	rf_frame_name = "leg_right_sole_fix_joint"
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 / "talos_data/srdf/talos.srdf"
	suppress
float	tau_max_scaling = 1.45
string	urdf = "/talos_data/robots/talos_reduced.urdf"
float	v_max_scaling = 0.8
	viewer = pin.visualize.GepettoVisualizer
int	w_am = 1e-3
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-1
float	w_torque_bounds = 1.0

Variable Documentation

CAMERA_TRANSFORM

list talos_conf.CAMERA_TRANSFORM

Initial value:

=  [
    4.0,
    -0.2,
    0.4,
    0.5243823528289795,
    0.518651008605957,
    0.4620114266872406,
    0.4925136864185333,
]

Definition at line 87 of file talos_conf.py.

COM_REF_SPHERE_COLOR

tuple talos_conf.COM_REF_SPHERE_COLOR = (1, 0, 0, 0.5)

Definition at line 100 of file talos_conf.py.

COM_SPHERE_COLOR

tuple talos_conf.COM_SPHERE_COLOR = (1, 0.5, 0, 0.5)

Definition at line 99 of file talos_conf.py.

contactNormal

talos_conf.contactNormal

Initial value:

=  np.array(
    [0.0, 0.0, 1.0]
)

Definition at line 23 of file talos_conf.py.

DISPLAY_N

int talos_conf.DISPLAY_N = 20

Definition at line 86 of file talos_conf.py.

dt

float talos_conf.dt = 0.002

Definition at line 11 of file talos_conf.py.

fMax

float talos_conf.fMax = 1000.0

Definition at line 20 of file talos_conf.py.

fMin

float talos_conf.fMin = 5.0

Definition at line 19 of file talos_conf.py.

gain_vector

talos_conf.gain_vector

Definition at line 37 of file talos_conf.py.

kp_am

float talos_conf.kp_am = 10.0

Definition at line 81 of file talos_conf.py.

kp_com

float talos_conf.kp_com = 10.0

Definition at line 80 of file talos_conf.py.

kp_contact

float talos_conf.kp_contact = 10.0

Definition at line 78 of file talos_conf.py.

kp_foot

float talos_conf.kp_foot = 10.0

Definition at line 79 of file talos_conf.py.

kp_posture

float talos_conf.kp_posture = 1.0

Definition at line 82 of file talos_conf.py.

lf_frame_name

string talos_conf.lf_frame_name = "leg_left_sole_fix_joint"

Definition at line 22 of file talos_conf.py.

LF_REF_SPHERE_COLOR

tuple talos_conf.LF_REF_SPHERE_COLOR = (0.5, 0, 1, 0.5)

Definition at line 104 of file talos_conf.py.

LF_SPHERE_COLOR

tuple talos_conf.LF_SPHERE_COLOR = (0, 0, 1, 0.5)

Definition at line 103 of file talos_conf.py.

LINE_WIDTH

int talos_conf.LINE_WIDTH = 60

Definition at line 8 of file talos_conf.py.

linewidth

talos_conf.linewidth

Definition at line 7 of file talos_conf.py.

lxn

float talos_conf.lxn = 0.10

Definition at line 14 of file talos_conf.py.

lxp

float talos_conf.lxp = 0.10

Definition at line 13 of file talos_conf.py.

lyn

float talos_conf.lyn = 0.065

Definition at line 16 of file talos_conf.py.

lyp

float talos_conf.lyp = 0.065

Definition at line 15 of file talos_conf.py.

lz

float talos_conf.lz = 0.0

Definition at line 17 of file talos_conf.py.

masks_posture

talos_conf.masks_posture = np.ones(32)

Definition at line 73 of file talos_conf.py.

mu

float talos_conf.mu = 0.3

Definition at line 18 of file talos_conf.py.

N_SIMULATION

int talos_conf.N_SIMULATION = 4000

Definition at line 10 of file talos_conf.py.

path

string talos_conf.path = Path(getModelPath(urdf))

Definition at line 107 of file talos_conf.py.

precision

talos_conf.precision

Definition at line 7 of file talos_conf.py.

PRINT_N

int talos_conf.PRINT_N = 500

Definition at line 85 of file talos_conf.py.

REF_SPHERE_RADIUS

float talos_conf.REF_SPHERE_RADIUS = 0.03

Definition at line 98 of file talos_conf.py.

rf_frame_name

string talos_conf.rf_frame_name = "leg_right_sole_fix_joint"

Definition at line 21 of file talos_conf.py.

RF_REF_SPHERE_COLOR

tuple talos_conf.RF_REF_SPHERE_COLOR = (0, 1, 0.5, 0.5)

Definition at line 102 of file talos_conf.py.

RF_SPHERE_COLOR

tuple talos_conf.RF_SPHERE_COLOR = (0, 1, 0, 0.5)

Definition at line 101 of file talos_conf.py.

SPHERE_RADIUS

float talos_conf.SPHERE_RADIUS = 0.03

Definition at line 97 of file talos_conf.py.

srdf

string talos_conf.srdf = path / "talos_data/srdf/talos.srdf"

Definition at line 109 of file talos_conf.py.

suppress

talos_conf.suppress

Definition at line 7 of file talos_conf.py.

tau_max_scaling

float talos_conf.tau_max_scaling = 1.45

Definition at line 75 of file talos_conf.py.

urdf

string talos_conf.urdf = "/talos_data/robots/talos_reduced.urdf"

Definition at line 106 of file talos_conf.py.

v_max_scaling

float talos_conf.v_max_scaling = 0.8

Definition at line 76 of file talos_conf.py.

viewer

talos_conf.viewer = pin.visualize.GepettoVisualizer

Definition at line 84 of file talos_conf.py.

w_am

int talos_conf.w_am = 1e-3

Definition at line 28 of file talos_conf.py.

w_com

float talos_conf.w_com = 1.0

Definition at line 27 of file talos_conf.py.

w_contact

float talos_conf.w_contact = -1.0

Definition at line 30 of file talos_conf.py.

w_cop

float talos_conf.w_cop = 0.0

Definition at line 33 of file talos_conf.py.

w_foot

int talos_conf.w_foot = 1e-1

Definition at line 29 of file talos_conf.py.

w_forceRef

int talos_conf.w_forceRef = 1e-5

Definition at line 32 of file talos_conf.py.

w_joint_bounds

float talos_conf.w_joint_bounds = 0.0

Definition at line 35 of file talos_conf.py.

w_posture

int talos_conf.w_posture = 1e-1

Definition at line 31 of file talos_conf.py.

w_torque_bounds

float talos_conf.w_torque_bounds = 1.0

Definition at line 34 of file talos_conf.py.