[py] Add missing python config file for ex4

exercizes/ex_4_talos_conf.py

+# -*- 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]