sot-talos-balance  2.0.5
Collection of dynamic-graph entities aimed at implementing balance control on talos.
distribute_conf.py
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1 from .base_estimator_conf import * # noqa
2 
3 # overwrite foot sizes
4 RIGHT_FOOT_SIZES = (0.100, -0.100, 0.06, -0.06) # pos x, neg x, pos y, neg y size
5 LEFT_FOOT_SIZES = (0.100, -0.100, 0.06, -0.06) # pos x, neg x, pos y, neg y size
6 
7 minPressure = 15.0
8 frictionCoefficient = 0.7
9 
10 wSum = 10000.0
11 wNorm = 10.0
12 wRatio = 1.0
13 wAnkle = [1.0, 1.0, 1e-4, 1.0, 1.0, 1e-4]