balance_ctrl_conf.py File Reference

Go to the source code of this file.

Namespaces
	sot_talos_balance.talos.balance_ctrl_conf

Variables
tuple	COM_DES = (0.00, 0.0, 0.81)
	constraint_mask = np.array([True, True, True, True, True, True]).T
	ee_mask = np.array([True, True, True, True, True, True]).T
int	fMax = 1e3
float	fMin = 1.0
tuple	FOOT_CONTACT_NORMAL = (0.0, 0.0, 1.0)
float	kd_com = 0.0
int	kd_constr = 0 * sqrt(kp_constr)
float	kd_feet = 0.0
int	kd_pos = NJ * (0 * sqrt(kp_pos[0]),)
int	kd_posture = NJ * (0 * sqrt(kp_posture[0]),)
int	ki_admittance = 6 * (0.0,)
tuple	kp_admittance = (0, 0, 0, 0.0 * 1, 0.0 * 1, 0.0)
float	kp_com = 0.0 * 30.0
float	kp_constr = 0.0 * 1.0
float	kp_feet = 0.0 * 30.0
int	kp_pos = NJ * (0.0,)
int	kp_posture = NJ * (100.0,)
	LEFT_FOOT_CONTACT_POINTS
tuple	LEFT_FOOT_SIZES = (0.100, -0.100, 0.060, -0.060)
tuple	LF_FORCE_DES = (0, 0, 300, 0, 0, 0.0)
	mu = np.array([0.3, 0.1])
int	NJ = 32
tuple	RF_FORCE_DES = (0, 0, 300, 0, 0, 0.0)
tuple	RIGHT_FOOT_CONTACT_POINTS
tuple	RIGHT_FOOT_SIZES = (0.100, -0.100, 0.060, -0.060)
float	w_base_orientation = 0.0
float	w_com = 0.0 * 1.0
float	w_feet = 0.0 * 1.0
float	w_forces = 0.0 * 1e-6
int	w_posture = 1e-3
float	w_torques = 0.0