|
| | test_Tasks.am_ref = np.zeros(3) |
| |
| float | test_Tasks.com_ref = data.com[0] + np.ones(3) * 0.02 |
| |
| | test_Tasks.const = taskCOM.compute(t, q, v, data) |
| |
| | test_Tasks.data = robot.data() |
| |
| | test_Tasks.data_next = robot.data().copy() |
| |
| | test_Tasks.diff_drift = norm(drift_pin - drift) |
| |
| tuple | test_Tasks.drift = (J_am_next[-3:, :] - J_am[-3:, :]).dot(v) / dt |
| |
| | test_Tasks.drift_pin = pin.computeCentroidalMomentumTimeVariation(model, data).angular |
| |
| float | test_Tasks.dt = 0.001 |
| |
| | test_Tasks.dv = Jpinv.dot(const.vector) |
| |
| | test_Tasks.error = np.linalg.norm(taskCOM.position_error, 2) |
| |
| int | test_Tasks.error_past = 1e100 |
| |
| | test_Tasks.filename = str(Path(__file__).resolve().parent) |
| |
| | test_Tasks.J_am = data.Ag |
| |
| | test_Tasks.J_am_next = data_next.Ag |
| |
| | test_Tasks.Jpinv = np.zeros((robot.nv, 3)) |
| |
| float | test_Tasks.Kd = 20.0 * np.ones(3) |
| |
| int | test_Tasks.Kp = 100 * np.ones(3) |
| |
| | test_Tasks.M_ref = pin.SE3.Random() |
| |
| int | test_Tasks.max_it = 1000 |
| |
| | test_Tasks.model = robot.model() |
| |
| int | test_Tasks.na = robot.nv - 6 |
| |
| string | test_Tasks.path = filename + "/../../models/romeo" |
| |
| | test_Tasks.q = model.referenceConfigurations["half_sitting"] |
| |
| | test_Tasks.q_next = pin.integrate(model, q, dt * v) |
| |
| | test_Tasks.q_ref = rng.standard_normal(na) |
| |
| | test_Tasks.rng = np.random.default_rng() |
| |
| | test_Tasks.robot = tsid.RobotWrapper(urdf, vector, pin.JointModelFreeFlyer(), False) |
| |
| | test_Tasks.sample = tsid.TrajectorySample(0) |
| |
| string | test_Tasks.srdf = path + "/srdf/romeo_collision.srdf" |
| |
| float | test_Tasks.t = 0.0 |
| |
| | test_Tasks.task_joint = tsid.TaskJointPosture("task-posture", robot) |
| |
| | test_Tasks.task_se3 = tsid.TaskSE3Equality("task-se3", robot, "RWristPitch") |
| |
| | test_Tasks.taskAM = tsid.TaskAMEquality("task-AM", robot) |
| |
| | test_Tasks.taskCOM = tsid.TaskComEquality("task-com", robot) |
| |
| int | test_Tasks.tol = 1e-5 |
| |
| | test_Tasks.traj = tsid.TrajectoryEuclidianConstant("traj_se3", com_ref) |
| |
| string | test_Tasks.urdf = path + "/urdf/romeo.urdf" |
| |
| | test_Tasks.v = np.zeros(robot.nv) |
| |
| | test_Tasks.vector = pin.StdVec_StdString() |
| |