draft config

app/generate_grasper_cfgs.py

@@ -0,0 +1,45 @@
+from dataclasses import dataclass, field
+from typing import Type
+from rostok.block_builder_api.block_blueprints import EnvironmentBodyBlueprint
+from rostok.simulation_chrono.simulation_scenario import GraspScenario, ParametrizedSimulation
+import rostok.control_chrono.external_force as f_ext
+
+
+@dataclass
+class SimulationConfig:
+    time_step: float = 0.0001
+    time_simulation: float = 10
+    scenario_cls: Type[ParametrizedSimulation] = GraspScenario
+    obj_disturbance_forces: list[f_ext.ABCForceCalculator] = field(default_factory=list)
+
+
+# From tis stuff generates sim_manager
+
+
+@dataclass
+class GraspObjective:
+    object_list: list[EnvironmentBodyBlueprint] = field(default_factory=list)
+    weight_list: list[float] = field(default_factory=list)
+    event_time_no_contact: float = 2
+    event_flying_apart_time: float = 2
+    event_slipout_time: float = 1
+    event_grasp_time: float = 5
+    event_force_test_time: float = 5
+
+    time_criterion_weight: float = 1
+    instant_contact_link_criterion_weight: float = 1
+    instant_force_criterion_weight: float = 1
+    instant_cog_criterion_weight: float = 1
+    grasp_time_criterion_weight: float = 1
+    final_pos_criterion_weight: float = 1
+
+@dataclass
+class ControlOptimizationParams:
+    optimisation_bound: tuple = field(default_factory=tuple)
+    optimisation_iter: int = field(default_factory=int)
+
+@dataclass
+class ControlBruteForceParams:
+    force_list: list[float] = field(default_factory=list)
+    staring_angle: float = field(default_factory=float)
+