appli_admittance_single_joint_velocity_based.py

Go to the documentation of this file.

# 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,
)
 
from dynamic_graph.sot_talos_balance.create_entities_utils import (
    create_joint_admittance_controller,
)
from dynamic_graph.sot_talos_balance.meta_task_joint import MetaTaskKineJoint
 
N_JOINTS = 32
N_CONFIG = N_JOINTS + 6
 
robot.timeStep = robot.device.getTimeStep()
dt = robot.timeStep
 
JOINT = 25
QJOINT = JOINT + 6
 
target = -10.0
 
# --- Joint
robot.taskJoint = MetaTaskKineJoint(robot.dynamic, QJOINT)
robot.taskJoint.featureDes.errorIN.value = [0.0]
robot.taskJoint.task.controlGain.value = 0
robot.taskJoint.task.setWithDerivative(True)
 
# --- Admittance controller
Kp = [0.1]
robot.admittance_control = create_joint_admittance_controller(JOINT, Kp, dt, robot)
plug(robot.admittance_control.qRef, robot.taskJoint.featureDes.errorIN)
plug(robot.admittance_control.dqRef, robot.taskJoint.featureDes.errordotIN)
 
# --- 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(robot.sot.control, robot.device.control)
 
robot.sot.push(robot.contactRF.task.name)
robot.sot.push(robot.contactLF.task.name)
robot.device.control.recompute(0)