GaitMeasure

Measure for efficient locomotion at a predefined speed.

Inherits from Measure.

Public Attributes

Parameter Type Description
termination_height Real Relative COM height (wrt initial position) at which to stop the simulation; default = 0.5.
min_velocity Real Minimum velocity [m/s]; default = 0 m/s.
max_velocity Real 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.
upper_body String Name of the upper body, used for gait detection; default = “torso”.
base_bodies String Name of the base bodies (i.e. feet), used for gait detection; default = “toes_l toes_r”.
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.
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.

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