GaitMeasure
Measure for locomotion at a predefined speed, defined by the parameters min_velocity
and (optionally) max_velocity
.
This measure returns a value between 0
(velocity conditions are met) and 1
(model falls over immediately).Specifically, the value represents the average by which the velocity of each step falls between min_velocity and max_velocity. The value is normalized by min_velocity, i.e. a step velocity of 0.5 times min_velocity has a score of 0.5.In order to save simulation time and increasing optimization performance, the termination_height
parameter is used to detect if the model has fallen, after which the simulation is terminated early (assuming it will not recover). It does so by comparing the center of mass (COM) height to the initial state, and terminates when (COM-height / initial-COM-height) < termination_height
.See Tutorials 4 and 5 for examples.
Inherits from Measure.
Public Attributes
Parameter | Type | Description |
---|---|---|
termination_height | Real | Relative COM height at which to terminate the simulation, as a factor of the initial COM height; default = 0.5. |
continue_after_fall | TimeInSeconds | Time to continue after fall is detected [s]; default = 0. |
min_velocity | Real | Minimum velocity [m/s]; default = 0 m/s. |
max_velocity | Real | Optional maximum velocity [m/s]; default = 299792458 m/s. |
load_threshold | Real | Load threshold for step detection; default = 0.1. |
min_step_duration | Real | Minimum duration [s] of a step, used for step detection; default = 0.1. |
initiation_steps | int | Number of initial steps of which the velocity is disregarded in the final measure; default = 2. |
base_bodies | String | Name of the base bodies (i.e. feet), used for gait detection; default = “toes_l toes_r”. |
direction | Vec3 | Gait direction vector; default = [ 1 0 0 ]. |
use_initial_heading | bool | Use initial heading for target direction; default = 0. |
min_norm_velocity | Real | Minimum velocity used for penalty normalization (advanced); default = 0.1 m/s. |
name | String | Name of the Measure, to be used in reporting; defaults to measure type. |
weight | Real | Weighting factor applied to the result of the measure; default = 1. |
threshold | Real | Threshold above / below which the measure becomes zero; default = 0. |
threshold_transition | Real | Transition range above threshold between which the measure linearly decreases to zero; default = 0. |
result_offset | Real | Offset added to measure result; default = 0. |
minimize | bool | Indicate whether this measure should be minimized; default value depends on the measure type (usually true). |
start_time | TimeInSeconds | Time [s] at which Controller becomes active; default = 0. |
stop_time | TimeInSeconds | Time [s] at which Controller becomes inactive; default = until simulation ends. |
signature_prefix | String | Prefix signature with custom string. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION. |
signature_postfix | String | Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, SCONE_VERSION. |
signature | String | Set custom signature and omit the auto-generated signature. |
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