Commit 2be6fc3f authored by Andrea Del Prete's avatar Andrea Del Prete
Browse files

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

parent bd2fc238
# -*- 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]
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