sot-talos-balance  2.0.5
Collection of dynamic-graph entities aimed at implementing balance control on talos.
Variables
sot_talos_balance.talos.balance_ctrl_conf Namespace Reference

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
 

Variable Documentation

◆ COM_DES

tuple COM_DES = (0.00, 0.0, 0.81)

Definition at line 7 of file balance_ctrl_conf.py.

◆ constraint_mask

constraint_mask = np.array([True, True, True, True, True, True]).T

Definition at line 27 of file balance_ctrl_conf.py.

◆ ee_mask

ee_mask = np.array([True, True, True, True, True, True]).T

Definition at line 28 of file balance_ctrl_conf.py.

◆ fMax

int fMax = 1e3

Definition at line 75 of file balance_ctrl_conf.py.

◆ fMin

float fMin = 1.0

Definition at line 73 of file balance_ctrl_conf.py.

◆ FOOT_CONTACT_NORMAL

tuple FOOT_CONTACT_NORMAL = (0.0, 0.0, 1.0)

Definition at line 70 of file balance_ctrl_conf.py.

◆ kd_com

float kd_com = 0.0

Definition at line 22 of file balance_ctrl_conf.py.

◆ kd_constr

int kd_constr = 0 * sqrt(kp_constr)

Definition at line 19 of file balance_ctrl_conf.py.

◆ kd_feet

float kd_feet = 0.0

Definition at line 24 of file balance_ctrl_conf.py.

◆ kd_pos

int kd_pos = NJ * (0 * sqrt(kp_pos[0]),)

Definition at line 16 of file balance_ctrl_conf.py.

◆ kd_posture

int kd_posture = NJ * (0 * sqrt(kp_posture[0]),)

Definition at line 13 of file balance_ctrl_conf.py.

◆ ki_admittance

int ki_admittance = 6 * (0.0,)

Definition at line 26 of file balance_ctrl_conf.py.

◆ kp_admittance

tuple kp_admittance = (0, 0, 0, 0.0 * 1, 0.0 * 1, 0.0)

Definition at line 25 of file balance_ctrl_conf.py.

◆ kp_com

float kp_com = 0.0 * 30.0

Definition at line 21 of file balance_ctrl_conf.py.

◆ kp_constr

float kp_constr = 0.0 * 1.0

Definition at line 17 of file balance_ctrl_conf.py.

◆ kp_feet

float kp_feet = 0.0 * 30.0

Definition at line 23 of file balance_ctrl_conf.py.

◆ kp_pos

int kp_pos = NJ * (0.0,)

Definition at line 14 of file balance_ctrl_conf.py.

◆ kp_posture

int kp_posture = NJ * (100.0,)

Definition at line 11 of file balance_ctrl_conf.py.

◆ LEFT_FOOT_CONTACT_POINTS

LEFT_FOOT_CONTACT_POINTS
Initial value:
1 = np.matrix(
2  [
3  [LEFT_FOOT_SIZES[0], LEFT_FOOT_SIZES[3], -0.105],
4  [LEFT_FOOT_SIZES[0], LEFT_FOOT_SIZES[2], -0.105],
5  [LEFT_FOOT_SIZES[1], LEFT_FOOT_SIZES[3], -0.105],
6  [LEFT_FOOT_SIZES[1], LEFT_FOOT_SIZES[2], -0.105],
7  ]
8 ).T

Definition at line 62 of file balance_ctrl_conf.py.

◆ LEFT_FOOT_SIZES

tuple LEFT_FOOT_SIZES = (0.100, -0.100, 0.060, -0.060)

Definition at line 42 of file balance_ctrl_conf.py.

◆ LF_FORCE_DES

tuple LF_FORCE_DES = (0, 0, 300, 0, 0, 0.0)

Definition at line 79 of file balance_ctrl_conf.py.

◆ mu

mu = np.array([0.3, 0.1])

Definition at line 71 of file balance_ctrl_conf.py.

◆ NJ

int NJ = 32

Definition at line 10 of file balance_ctrl_conf.py.

◆ RF_FORCE_DES

tuple RF_FORCE_DES = (0, 0, 300, 0, 0, 0.0)

Definition at line 78 of file balance_ctrl_conf.py.

◆ RIGHT_FOOT_CONTACT_POINTS

tuple RIGHT_FOOT_CONTACT_POINTS
Initial value:
1 = (
2  (
3  RIGHT_FOOT_SIZES[0],
4  RIGHT_FOOT_SIZES[0],
5  RIGHT_FOOT_SIZES[1],
6  RIGHT_FOOT_SIZES[1],
7  ),
8  (
9  RIGHT_FOOT_SIZES[3],
10  RIGHT_FOOT_SIZES[2],
11  RIGHT_FOOT_SIZES[3],
12  RIGHT_FOOT_SIZES[2],
13  ),
14  (-0.105, -0.105, -0.105, -0.105),
15 )

Definition at line 45 of file balance_ctrl_conf.py.

◆ RIGHT_FOOT_SIZES

tuple RIGHT_FOOT_SIZES = (0.100, -0.100, 0.060, -0.060)

Definition at line 40 of file balance_ctrl_conf.py.

◆ w_base_orientation

float w_base_orientation = 0.0

Definition at line 36 of file balance_ctrl_conf.py.

◆ w_com

float w_com = 0.0 * 1.0

Definition at line 31 of file balance_ctrl_conf.py.

◆ w_feet

float w_feet = 0.0 * 1.0

Definition at line 32 of file balance_ctrl_conf.py.

◆ w_forces

float w_forces = 0.0 * 1e-6

Definition at line 35 of file balance_ctrl_conf.py.

◆ w_posture

int w_posture = 1e-3

Definition at line 33 of file balance_ctrl_conf.py.

◆ w_torques

float w_torques = 0.0

Definition at line 37 of file balance_ctrl_conf.py.