Add new config file for ex 4 to get longer walking trajectory

exercizes/ex_4_long_conf.py

+# -*- coding: utf-8 -*-
+"""
+Created on Thu Apr 18 09:47:07 2019
+
+@author: student
+"""
+
+import numpy as np
+import os
+
+np.set_printoptions(precision=3, linewidth=200, suppress=True)
+LINE_WIDTH = 60
+
+DATA_FILE_LIPM = 'romeo_walking_traj_long_lipm.npz'
+DATA_FILE_TSID = 'romeo_walking_traj_long_tsid.npz'
+
+# robot parameters
+# ----------------------------------------------
+filename = str(os.path.dirname(os.path.abspath(__file__)))
+path = filename + '/../models/romeo'
+urdf = path + '/urdf/romeo.urdf'
+srdf = path + '/srdf/romeo_collision.srdf'
+lxp = 0.07                          # foot length in positive x direction
+lxn = 0.07                          # foot length in negative x direction
+lyp = 0.05                          # foot length in positive y direction
+lyn = 0.05                          # foot length in negative y direction
+lz = 0.07                            # foot sole height with respect to ankle joint
+mu = 0.3                            # friction coefficient
+fMin = 5.0                          # minimum normal force
+fMax = 1000.0                       # maximum normal force
+rf_frame_name = "RAnkleRoll"        # right foot frame name
+lf_frame_name = "LAnkleRoll"        # left foot frame name
+contactNormal = np.matrix([0., 0., 1.]).T   # direction of the normal to the contact surface
+
+# configuration for LIPM trajectory optimization
+# ----------------------------------------------
+alpha       = 10**(2)   # CoP error squared cost weight
+beta        = 0         # CoM position error squared cost weight
+gamma       = 10**(-1)  # CoM velocity error squared cost weight
+h           = 0.58      # fixed CoM height
+g           = 9.81      # norm of the gravity vector
+foot_step_0   = np.array([0.0, -0.096])   # initial foot step position in x-y
+dt_mpc                = 0.2               # sampling time interval
+T_step                = 0.8               # time needed for every step
+step_length           = 0.2              # fixed step length 
+step_height           = 0.05              # fixed step height
+nb_steps              = 6                 # number of desired walking steps
+
+# configuration for TSID
+# ----------------------------------------------
+dt = 0.002                      # controller time step
+
+w_com = 1.0                     # weight of center of mass task
+w_foot = 1e-1                   # weight of the foot motion task
+w_posture = 1e-4                # weight of joint posture task
+w_forceRef = 1e-5               # weight of force regularization task
+
+kp_contact = 10.0               # proportional gain of contact constraint
+kp_foot = 10.0                  # proportional gain of contact constraint
+kp_com = 10.0                   # proportional gain of center of mass task
+kp_posture = 1.0               # proportional gain of joint posture task
+
+# configuration for viewer
+# ----------------------------------------------
+PRINT_N = 500                   # print every PRINT_N time steps
+DISPLAY_N = 20                  # update robot configuration in viwewer every DISPLAY_N time steps
+CAMERA_TRANSFORM = [3.578777551651001, 1.2937744855880737, 0.8885031342506409, 0.4116811454296112, 0.5468055009841919, 0.6109083890914917, 0.3978860676288605]