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cfg_momTr_demo01.yaml
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planner_variables:
#######################
# Dynamics parameters #
#######################
heuristic: TrustRegion # Types: TrustRegion, SoftConstraint, TimeOptimization #
n_act_eefs: 2
time_step: 0.1
time_horizon: 9.5
external_force: [0.00, 0.00, 0.00]
com_displacement: [0.20, 1.05, 0.6]
num_com_viapoints: 0
com_viapoints:
via0: [2.50, 0.500, 0.45, 0.00]
#####################
# Timing parameters #
#####################
max_time_iterations: 100
max_time_residual_tolerance: 1e-3
min_time_residual_improvement: 1e-5
############################
# Configuration parameters #
############################
gravity: 9.81
robot_mass: 60.0
friction_coeff: 1.0
friction_cone: SocCone # Types: LinearCone, SocCone #
torque_range: [-200.0, 200.0]
eff_offset_rf: [ 0.00, 0.00, 0.00]
eff_offset_lf: [ 0.00, 0.00, 0.00]
eff_offset_rh: [ 0.00, -0.20, 0.48]
eff_offset_lh: [0.00, 0.20, 0.48]
cop_range_rf: [-0.08, 0.08, -0.03, 0.03]
cop_range_lf: [-0.08, 0.08, -0.03, 0.03]
cop_range_rh: [-0.03, 0.03, -0.03, 0.03]
cop_range_lh: [-0.03, 0.03, -0.03, 0.03]
max_eef_lengths: [0.82, 0.82, 0.60, 0.60]
####################
# Dynamics weights #
####################
w_trq_arm: 1.000
w_trq_leg: 1.000
w_com: [ 10000, 10000, 10000]
w_amom: [ 0.500, 0.500, 0.500]
w_lmom: [ 0.001, 0.001, 0.001]
w_amomd: [ 0.400, 0.100, 0.100]
w_lmomd: [ 0.015, 0.015, 0.015]
w_amom_final: [ 10.00, 10.00, 10.00]
w_lmom_final: [ 10.00, 10.00, 10.00]
w_com_via: [ 0.000, 0.000, 0.000]
w_frc_arm: [ 0.001, 0.001, 0.001]
w_frc_leg: [ 0.001, 0.001, 0.001]
w_dfrc_arm: [ 0.000, 0.000, 0.000]
w_dfrc_leg: [ 0.000, 0.000, 0.000]
w_amom_track: [ 1.000, 1.000, 1.000]
w_lmom_track: [ 0.100, 0.100, 0.100]
#######################
# Storage information #
#######################
store_data: True
##################
# Solver setting #
##################
use_default_solver_setting: True