appli_COMTraj.py

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# flake8: noqa
from dynamic_graph import plug
from dynamic_graph.sot.core import SOT
from dynamic_graph.sot.core.meta_tasks_kine import (
    MetaTaskKine6d,
    MetaTaskKineCom,
    gotoNd,
)
 
import dynamic_graph.sot_talos_balance.talos.control_manager_conf as cm_conf
import dynamic_graph.sot_talos_balance.talos.parameter_server_conf as param_server_conf
from dynamic_graph.sot_talos_balance.create_entities_utils import *
 
robot.timeStep = robot.device.getTimeStep()
dt = robot.timeStep
robot.comTrajGen = create_com_trajectory_generator(dt, robot)
 
# --- COM
robot.taskCom = MetaTaskKineCom(robot.dynamic)
robot.dynamic.com.recompute(0)
robot.taskCom.featureDes.errorIN.value = robot.dynamic.com.value
robot.taskCom.task.controlGain.value = 10
 
# --- Parameter Server
robot.param_server = create_parameter_server(param_server_conf, dt)
 
# --- Control Manager
robot.cm = create_ctrl_manager(cm_conf, dt, robot_name="robot")
robot.cm.addCtrlMode("sot_input")
robot.cm.setCtrlMode("all", "sot_input")
 
# --- CONTACTS
# define contactLF and contactRF
robot.contactLF = MetaTaskKine6d(
    "contactLF", robot.dynamic, "LF", robot.OperationalPointsMap["left-ankle"]
)
robot.contactLF.feature.frame("desired")
robot.contactLF.gain.setConstant(100)
robot.contactLF.keep()
locals()["contactLF"] = robot.contactLF
 
robot.contactRF = MetaTaskKine6d(
    "contactRF", robot.dynamic, "RF", robot.OperationalPointsMap["right-ankle"]
)
robot.contactRF.feature.frame("desired")
robot.contactRF.gain.setConstant(100)
robot.contactRF.keep()
locals()["contactRF"] = robot.contactRF
 
robot.sot = SOT("sot")
robot.sot.setSize(robot.dynamic.getDimension())
 
# --- Plug SOT control to device through control manager
plug(robot.sot.control, robot.cm.ctrl_sot_input)
plug(robot.cm.u_safe, robot.device.control)
 
plug(robot.comTrajGen.x, robot.taskCom.featureDes.errorIN)
 
robot.sot.push(robot.contactRF.task.name)
robot.sot.push(robot.contactLF.task.name)
robot.sot.push(robot.taskCom.task.name)
robot.device.control.recompute(0)