|
| | test_Formulation.com_ref = robot.com(data) |
| |
| | test_Formulation.comTask = tsid.TaskComEquality("task-com", robot) |
| |
| float | test_Formulation.contact_Point = np.ones((3, 4)) * lz |
| |
| float | test_Formulation.CONTACT_TRANSITION_TIME = 1.0 |
| |
| | test_Formulation.contactLF |
| |
| | test_Formulation.contactNormal = np.array([0.0, 0.0, 1.0]) |
| |
| | test_Formulation.contactRF |
| |
| | test_Formulation.data = invdyn.data() |
| |
| float | test_Formulation.dt = 0.01 |
| |
| | test_Formulation.dv = invdyn.getAccelerations(sol) |
| |
| | test_Formulation.f = invdyn.getContactForce(contactRF.name, sol) |
| |
| | test_Formulation.filename = str(Path(__file__).resolve().parent) |
| |
| float | test_Formulation.fMax = 1000.0 |
| |
| float | test_Formulation.fMin = 5.0 |
| |
| | test_Formulation.H_lf_ref = robot.position(data, robot.model().getJointId(lf_frame_name)) |
| |
| | test_Formulation.H_rf_ref = robot.position(data, robot.model().getJointId(rf_frame_name)) |
| |
| | test_Formulation.H_rf_ref_vec = np.zeros(12) |
| |
| | test_Formulation.HQPData = invdyn.computeProblemData(t, q, v) |
| |
| | test_Formulation.invdyn = tsid.InverseDynamicsFormulationAccForce("tsid", robot, False) |
| |
| float | test_Formulation.kp_com = 30.0 |
| |
| float | test_Formulation.kp_contact = 100.0 |
| |
| float | test_Formulation.kp_posture = 30.0 |
| |
| float | test_Formulation.kp_RF = 100.0 |
| |
| string | test_Formulation.lf_frame_name = "LAnkleRoll" |
| |
| float | test_Formulation.lxn = 0.077 |
| |
| float | test_Formulation.lxp = 0.14 |
| |
| float | test_Formulation.lyn = 0.069 |
| |
| float | test_Formulation.lyp = 0.069 |
| |
| float | test_Formulation.lz = 0.105 |
| |
| int | test_Formulation.max_it = 1000 |
| |
| | test_Formulation.model = robot.model() |
| |
| float | test_Formulation.mu = 0.3 |
| |
| string | test_Formulation.path = filename + "/../../models/romeo" |
| |
| | test_Formulation.postureTask = tsid.TaskJointPosture("task-posture", robot) |
| |
| int | test_Formulation.PRINT_N = 100 |
| |
| | test_Formulation.q = model.referenceConfigurations["half_sitting"] |
| |
| | test_Formulation.q_ref = q[7:] |
| |
| int | test_Formulation.REMOVE_CONTACT_N = 100 |
| |
| string | test_Formulation.rf_frame_name = "RAnkleRoll" |
| |
| | test_Formulation.rightFootTask = tsid.TaskSE3Equality("task-right-foot", robot, rf_frame_name) |
| |
| | test_Formulation.robot = tsid.RobotWrapper(urdf, vector, se3.JointModelFreeFlyer(), False) |
| |
| | test_Formulation.s = tsid.TrajectorySample(12, 6) |
| |
| | test_Formulation.sampleCom = tsid.TrajectorySample(3) |
| |
| | test_Formulation.samplePosture = tsid.TrajectorySample(robot.nv - 6) |
| |
| | test_Formulation.sol = solver.solve(HQPData) |
| |
| | test_Formulation.solver = tsid.SolverHQuadProg("qp solver") |
| |
| string | test_Formulation.srdf = path + "/srdf/romeo_collision.srdf" |
| |
| float | test_Formulation.t = 0.0 |
| |
| | test_Formulation.tau = invdyn.getActuatorForces(sol) |
| |
| | test_Formulation.tau_old = np.zeros(robot.nv - 6) |
| |
| | test_Formulation.trajCom = tsid.TrajectoryEuclidianConstant("traj_com", com_ref) |
| |
| | test_Formulation.trajPosture = tsid.TrajectoryEuclidianConstant("traj_joint", q_ref) |
| |
| string | test_Formulation.urdf = path + "/urdf/romeo.urdf" |
| |
| | test_Formulation.v = np.zeros(robot.nv) |
| |
| | test_Formulation.vector = se3.StdVec_StdString() |
| |
| float | test_Formulation.w_com = 1.0 |
| |
| int | test_Formulation.w_forceRef = 1e-5 |
| |
| int | test_Formulation.w_posture = 1e-2 |
| |
| int | test_Formulation.w_RF = 1e3 |
| |