appli_kinematics.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.matrix_util import matrixToTuple
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
 
# --- 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(0)
robot.contactLF.keep()
robot.contactLF.task.setWithDerivative(True)
robot.contactLF.featureDes.velocity.value = [0.0] * 6
locals()["contactLF"] = robot.contactLF
 
robot.contactRF = MetaTaskKine6d(
    "contactRF", robot.dynamic, "RF", robot.OperationalPointsMap["right-ankle"]
)
robot.contactRF.feature.frame("desired")
robot.contactRF.gain.setConstant(0)
robot.contactRF.keep()
robot.contactRF.task.setWithDerivative(True)
robot.contactRF.featureDes.velocity.value = [0.0] * 6
locals()["contactRF"] = robot.contactRF
 
robot.taskRH = MetaTaskKine6d("taskRH", robot.dynamic, "RH", "arm_right_7_joint")
robot.taskRH.feature.frame("desired")
robot.taskRH.gain.setConstant(0)
robot.taskRH.keep()
robot.taskRH.task.setWithDerivative(True)
robot.taskRH.featureDes.velocity.value = [0.0] * 6
locals()["taskRH"] = robot.taskRH
 
robot.taskLH = MetaTaskKine6d("taskLH", robot.dynamic, "LH", "arm_left_7_joint")
robot.taskLH.feature.frame("desired")
robot.taskLH.gain.setConstant(0)
robot.taskLH.keep()
robot.taskLH.task.setWithDerivative(True)
robot.taskLH.featureDes.velocity.value = [0.0] * 6
locals()["taskLH"] = robot.taskLH
 
# robot.taskRH = MetaTaskKine6d('taskRH', robot.dynamic, 'RH', 'arm_right_7_joint')
# handMgrip = np.eye(4)
# handMgrip[0:3, 3] = (0.1, 0, 0)
# robot.taskRH.opmodif = matrixToTuple(handMgrip)
# robot.taskRH.feature.frame('desired')
# robot.taskRH.feature.selec.value = '111111'
# robot.taskRH.task.setWithDerivative(True)
# robot.taskRH.task.controlGain.value = 0
# robot.taskRH.feature.position.value = np.eye(4)
# robot.taskRH.feature.velocity.value = [0., 0., 0., 0., 0., 0.]
# robot.taskRH.featureDes.position.value = np.eye(4)
# robot.taskRH.featureDes.velocity.value = [0., 0., 0., 0., 0., 0.]
 
# robot.taskLH = MetaTaskKine6d('taskLH', robot.dynamic, 'LH', 'arm_left_7_joint')
# handMgrip = np.eye(4)
# handMgrip[0:3, 3] = (0.1, 0, 0)
# robot.taskLH.opmodif = matrixToTuple(handMgrip)
# robot.taskLH.feature.frame('desired')
# robot.taskLH.feature.selec.value = '111111'
# robot.taskLH.task.setWithDerivative(True)
# robot.taskLH.task.controlGain.value = 0
# robot.taskLH.feature.position.value = np.eye(4)
# robot.taskLH.feature.velocity.value = [0., 0., 0., 0., 0., 0.]
# robot.taskLH.featureDes.position.value = np.eye(4)
# robot.taskLH.featureDes.velocity.value = [0., 0., 0., 0., 0., 0.]
 
robot.sot = SOT("sot")
robot.sot.setSize(robot.dynamic.getDimension())
 
# --- Plug SOT control to device through control manager
plug(robot.sot.control, 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.taskRH.task.name)
robot.sot.push(robot.taskLH.task.name)
robot.sot.push(robot.taskCom.task.name)
robot.device.control.recompute(0)