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Stack Of Tasks
tsid
Commits
2d2d7ce8
Commit
2d2d7ce8
authored
Apr 09, 2021
by
Andrea Del Prete
Browse files
[py] Add missing python config file for ex4
parent
09693289
Pipeline
#13951
passed with stage
in 23 minutes and 53 seconds
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exercizes/ex_4_talos_conf.py
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2d2d7ce8
# -*- coding: utf-8 -*-
"""
Created on Thu Apr 18 09:47:07 2019
@author: student
"""
import
numpy
as
np
import
os
import
pinocchio
as
pin
from
example_robot_data.robots_loader
import
getModelPath
np
.
set_printoptions
(
precision
=
3
,
linewidth
=
200
,
suppress
=
True
)
LINE_WIDTH
=
60
DATA_FILE_LIPM
=
'talos_walking_traj_lipm.npz'
DATA_FILE_TSID
=
'talos_walking_traj_tsid.npz'
# robot parameters
# ----------------------------------------------
filename
=
str
(
os
.
path
.
dirname
(
os
.
path
.
abspath
(
__file__
)))
urdf
=
"/talos_data/robots/talos_reduced.urdf"
modelPath
=
getModelPath
(
urdf
)
urdf
=
modelPath
+
urdf
srdf
=
modelPath
+
'/talos_data/srdf/talos.srdf'
path
=
os
.
path
.
join
(
modelPath
,
'../..'
)
nv
=
38
foot_scaling
=
1.
lxp
=
foot_scaling
*
0.10
# foot length in positive x direction
lxn
=
foot_scaling
*
0.05
# foot length in negative x direction
lyp
=
foot_scaling
*
0.05
# foot length in positive y direction
lyn
=
foot_scaling
*
0.05
# foot length in negative y direction
lz
=
0.0
# foot sole height with respect to ankle joint
mu
=
0.3
# friction coefficient
fMin
=
0.0
# minimum normal force
fMax
=
1e6
# maximum normal force
rf_frame_name
=
"leg_right_sole_fix_joint"
# right foot frame name
lf_frame_name
=
"leg_left_sole_fix_joint"
# 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
=
0.88
# fixed CoM height
g
=
9.81
# norm of the gravity vector
foot_step_0
=
np
.
array
([
0.0
,
-
0.085
])
# initial foot step position in x-y
dt_mpc
=
0.1
# sampling time interval
T_step
=
1.2
# time needed for every step
step_length
=
0.2
# fixed step length
step_height
=
0.05
# fixed step height
nb_steps
=
4
# number of desired walking steps
# configuration for TSID
# ----------------------------------------------
dt
=
0.002
# controller time step
T_pre
=
1.5
# simulation time before starting to walk
T_post
=
1.5
# simulation time after walking
w_com
=
1.0
# weight of center of mass task
w_foot
=
1e0
# weight of the foot motion task
w_contact
=
1e2
# weight of the foot in contact
w_posture
=
1e-4
# weight of joint posture task
w_forceRef
=
1e-5
# weight of force regularization task
w_torque_bounds
=
0.0
# weight of the torque bounds
w_joint_bounds
=
0.0
tau_max_scaling
=
1.45
# scaling factor of torque bounds
v_max_scaling
=
0.8
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
#gain_vector = kp_posture*np.ones(nv-6)
gain_vector
=
np
.
array
(
# gain vector for postural task
[
10.
,
5.
,
5.
,
1.
,
1.
,
10.
,
# lleg #low gain on axis along y and knee
10.
,
5.
,
5.
,
1.
,
1.
,
10.
,
#rleg
5000.
,
5000.
,
#chest
500.
,
1000.
,
10.
,
10.
,
10.
,
10.
,
100.
,
50.
,
#larm
50.
,
100.
,
10.
,
10.
,
10.
,
10.
,
100.
,
50.
,
#rarm
100.
,
100.
]
#head
)
masks_posture
=
np
.
ones
(
nv
-
6
)
# configuration for viewer
# ----------------------------------------------
viewer
=
pin
.
visualize
.
GepettoVisualizer
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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