Variables
	alpha

	ax

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

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

	cop_LF_world

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

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

	cop_RF_world

	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.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.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 = 0

int	PLOT_COP = 1

int	PLOT_FOOT_TRAJ = 0

int	PLOT_JOINT_VEL = 0

int	PLOT_TORQUES = 0

	q

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

	sol = tsid.solver.solve(HQPData)

	t = -conf.T_pre

	T_LF = tsid.contactRF.getForceGeneratorMatrix

	T_RF = tsid.contactRF.getForceGeneratorMatrix

	tau = np.zeros((tsid.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 = TsidBiped(conf, conf.viewer)

	v

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

tuple	v_normalized

	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.get_placement_RF().translation

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

Detailed Description

This script is a slight variation of ex_4_walking.py introduced to test the new
center of pressure (CoP) task. In this script, besides tracking a reference
center of mass (CoM), the TSID controller also tries to track a reference CoP.
The resulting motion doesn't look great because the reference CoP is an open-loop
reference trajectory, so it is not stabilizing, and it conflicts with the CoM task.
However, the results show that the CoP is tracked reasonably well during the motion,
which was the goal of the test, validating the CoP task.

Variable Documentation

◆ alpha

test_cop_task.alpha

Definition at line 333 of file test_cop_task.py.

◆ ax

test_cop_task.ax

Definition at line 215 of file test_cop_task.py.

◆ com_acc

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

Definition at line 42 of file test_cop_task.py.

◆ com_acc_des

tuple test_cop_task.com_acc_des

Initial value:

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

Definition at line 71 of file test_cop_task.py.

◆ com_acc_ref

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

Definition at line 63 of file test_cop_task.py.

◆ com_pos

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

Definition at line 40 of file test_cop_task.py.

◆ com_pos_ref

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

Definition at line 61 of file test_cop_task.py.

◆ com_vel

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

Definition at line 41 of file test_cop_task.py.

◆ com_vel_ref

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

Definition at line 62 of file test_cop_task.py.

◆ contact_phase

test_cop_task.contact_phase = data["contact_phase"]

Definition at line 60 of file test_cop_task.py.

◆ cop

test_cop_task.cop = np.zeros((2, N + N_post))

Definition at line 55 of file test_cop_task.py.

◆ cop_LF

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

Definition at line 54 of file test_cop_task.py.

◆ cop_LF_world

test_cop_task.cop_LF_world

Initial value:

 =  tsid.get_placement_LF().act(
             np.array([cop_LF[0, i], cop_LF[1, i], 0])
         )

Definition at line 168 of file test_cop_task.py.

◆ cop_ref

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

Definition at line 70 of file test_cop_task.py.

◆ cop_RF

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

Definition at line 53 of file test_cop_task.py.

◆ cop_RF_world

test_cop_task.cop_RF_world

Initial value:

 =  tsid.get_placement_RF().act(
             np.array([cop_RF[0, i], cop_RF[1, i], 0])
         )

Definition at line 171 of file test_cop_task.py.

◆ data

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

Definition at line 32 of file test_cop_task.py.

◆ ddx_LF

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

Definition at line 45 of file test_cop_task.py.

◆ ddx_LF_des

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

Definition at line 46 of file test_cop_task.py.

◆ ddx_LF_ref

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

Definition at line 69 of file test_cop_task.py.

◆ ddx_RF

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

Definition at line 49 of file test_cop_task.py.

◆ ddx_RF_des

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

Definition at line 50 of file test_cop_task.py.

◆ ddx_RF_ref

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

Definition at line 66 of file test_cop_task.py.

◆ dv

test_cop_task.dv = tsid.formulation.getAccelerations(sol)

Definition at line 138 of file test_cop_task.py.

◆ dx_LF

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

Definition at line 44 of file test_cop_task.py.

◆ dx_LF_ref

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

Definition at line 68 of file test_cop_task.py.

◆ dx_RF

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

Definition at line 48 of file test_cop_task.py.

◆ dx_RF_ref

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

Definition at line 65 of file test_cop_task.py.

◆ f

test_cop_task.f

Definition at line 215 of file test_cop_task.py.

◆ f_LF

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

Definition at line 52 of file test_cop_task.py.

◆ f_RF

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

Definition at line 51 of file test_cop_task.py.

◆ HQPData

test_cop_task.HQPData = tsid.formulation.computeProblemData(t, q, v)

Definition at line 124 of file test_cop_task.py.

◆ label

test_cop_task.label

Definition at line 217 of file test_cop_task.py.

◆ leg

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

Definition at line 221 of file test_cop_task.py.

◆ N

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

Definition at line 36 of file test_cop_task.py.

◆ N_post

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

Definition at line 38 of file test_cop_task.py.

◆ N_pre

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

Definition at line 37 of file test_cop_task.py.

◆ offset

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

Definition at line 76 of file test_cop_task.py.

◆ PLOT_COM

int test_cop_task.PLOT_COM = 0

Definition at line 26 of file test_cop_task.py.

◆ PLOT_COP

int test_cop_task.PLOT_COP = 1

Definition at line 27 of file test_cop_task.py.

◆ PLOT_FOOT_TRAJ

int test_cop_task.PLOT_FOOT_TRAJ = 0

Definition at line 28 of file test_cop_task.py.

◆ PLOT_JOINT_VEL

int test_cop_task.PLOT_JOINT_VEL = 0

Definition at line 30 of file test_cop_task.py.

◆ PLOT_TORQUES

int test_cop_task.PLOT_TORQUES = 0

Definition at line 29 of file test_cop_task.py.

◆ q

test_cop_task.q

Definition at line 86 of file test_cop_task.py.

◆ q_log

test_cop_task.q_log = np.zeros((tsid.robot.nq, N + N_post))

Definition at line 57 of file test_cop_task.py.

◆ sol

test_cop_task.sol = tsid.solver.solve(HQPData)

Definition at line 126 of file test_cop_task.py.

◆ t

test_cop_task.t = -conf.T_pre

Definition at line 85 of file test_cop_task.py.

◆ T_LF

test_cop_task.T_LF = tsid.contactRF.getForceGeneratorMatrix

Definition at line 161 of file test_cop_task.py.

◆ T_RF

test_cop_task.T_RF = tsid.contactRF.getForceGeneratorMatrix

Definition at line 153 of file test_cop_task.py.

◆ tau

test_cop_task.tau = np.zeros((tsid.robot.na, N + N_post))

Definition at line 56 of file test_cop_task.py.

◆ tau_normalized

test_cop_task.tau_normalized

Initial value:

 =  (
             2 * (tau[i, :] - tsid.tau_min[i]) / (tsid.tau_max[i] - tsid.tau_min[i]) - 1
         )

Definition at line 328 of file test_cop_task.py.

◆ time

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

Definition at line 212 of file test_cop_task.py.

◆ time_spent

test_cop_task.time_spent = time.time() - time_start

Definition at line 207 of file test_cop_task.py.

◆ time_start

test_cop_task.time_start = time.time()

Definition at line 89 of file test_cop_task.py.

◆ tsid

test_cop_task.tsid = TsidBiped(conf, conf.viewer)

Definition at line 34 of file test_cop_task.py.

◆ v

test_cop_task.v

Definition at line 86 of file test_cop_task.py.

◆ v_log

test_cop_task.v_log = np.zeros((tsid.robot.nv, N + N_post))

Definition at line 58 of file test_cop_task.py.

◆ v_normalized

test_cop_task.v_normalized

Initial value:

 =  (
             2 * (v_log[6 + i, :] - tsid.v_min[i]) / (tsid.v_max[i] - tsid.v_min[i]) - 1
         )

Definition at line 344 of file test_cop_task.py.

◆ x_LF

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

Definition at line 43 of file test_cop_task.py.

◆ x_LF_ref

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

Definition at line 67 of file test_cop_task.py.

◆ x_RF

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

Definition at line 47 of file test_cop_task.py.

◆ x_rf

test_cop_task.x_rf = tsid.get_placement_RF().translation

Definition at line 75 of file test_cop_task.py.

◆ x_RF_ref

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

Definition at line 64 of file test_cop_task.py.

Variables

Detailed Description

Variable Documentation

◆ alpha

◆ ax

◆ com_acc

◆ com_acc_des

◆ com_acc_ref

◆ com_pos

◆ com_pos_ref

◆ com_vel

◆ com_vel_ref

◆ contact_phase

◆ cop

◆ cop_LF

◆ cop_LF_world

◆ cop_ref

◆ cop_RF

◆ cop_RF_world

◆ data

◆ ddx_LF

◆ ddx_LF_des

◆ ddx_LF_ref

◆ ddx_RF

◆ ddx_RF_des

◆ ddx_RF_ref

◆ dv

◆ dx_LF

◆ dx_LF_ref

◆ dx_RF

◆ dx_RF_ref

◆ f

◆ f_LF

◆ f_RF

◆ HQPData

◆ label

◆ leg

◆ N

◆ N_post

◆ N_pre

◆ offset

◆ PLOT_COM

◆ PLOT_COP

◆ PLOT_FOOT_TRAJ

◆ PLOT_JOINT_VEL

◆ PLOT_TORQUES

◆ q

◆ q_log

◆ sol

◆ t

◆ T_LF

◆ T_RF

◆ tau

◆ tau_normalized

◆ time

◆ time_spent

◆ time_start

◆ tsid

◆ v

◆ v_log

◆ v_normalized

◆ x_LF

◆ x_LF_ref

◆ x_RF

◆ x_rf

◆ x_RF_ref