hrp2_pushRecovery.py

TIMEOPT_CONFIG_FILE = "cfg_softConstraints_hrp2.yaml"
TIMEOPT_CONFIG_FILE = "cfg_softConstraints_hrp2_eff85.yaml"

from common_hrp2 import *
SCRIPT_PATH = "sandbox"

DURATION_INIT = 1. # Time to init the motion
DURATION_FINAL = 1.5 # Time to stop the robot
DURATION_FINAL_SS = 1.
DURATION_SS =1.4
DURATION_DS = 0.3
DURATION_TS = 0.4

COM_SHIFT_Z = 0.
TIME_SHIFT_COM = 0.

## Settings for end effectors : 
EFF_T_PREDEF = 0.3
p_max = 0.1