# Add constraints
wcl = WsClient()
wcl.problem.addStaticStabilityConstraints("balance", q0, robot.leftAnkle,
robot.rightAnkle)
ps = ProblemSolver(robot)
ps.setNumericalConstraints("balance", [
"balance/relative-com", "balance/relative-orientation",
"balance/relative-position", "balance/orientation-left-foot",
"balance/position-left-foot"
])
# lock hands in closed position
lockedDofs = robot.leftHandClosed()
for name, value in lockedDofs.iteritems():
ps.lockDof(name, value, 0, 0)
lockedDofs = robot.rightHandClosed()
for name, value in lockedDofs.iteritems():
ps.lockDof(name, value, 0, 0)
q1 = [
0.0, 0.0, 0.705, 1.0, 0., 0., 0.0, 0.0, 0.0, 0.0, 0.0, -0.4, 0, -1.2, -1.0,
0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532,
0.261799, -0.17453, 0.0, -0.523599, 0.0, 0.0, 0.174532, -0.174532,
0.174532, -0.174532, 0.174532, -0.174532, 0.0, 0.0, -0.453786, 0.872665,
-0.418879, 0.0, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0
]
res = ps.applyConstraints(q1)
if res[0]:
# Add constraints
wcl = WsClient ()
wcl.problem.addStaticStabilityConstraints ("balance", q0, robot.leftAnkle,
robot.rightAnkle)
ps = ProblemSolver (robot)
ps.setNumericalConstraints ("balance", ["balance/relative-com",
"balance/relative-orientation",
"balance/relative-position",
"balance/orientation-left-foot",
"balance/position-left-foot"])
# lock hands in closed position
lockedDofs = robot.leftHandClosed ()
for name, value in lockedDofs.iteritems ():
ps.lockDof (name, value, 0, 0)
lockedDofs = robot.rightHandClosed ()
for name, value in lockedDofs.iteritems ():
ps.lockDof (name, value, 0, 0)
q1 = [0.0, 0.0, 0.705, 1.0, 0., 0., 0.0, 0.0, 0.0, 0.0, 0.0, -0.4, 0, -1.2, -1.0, 0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, 0.261799, -0.17453, 0.0, -0.523599, 0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0]
res = ps.applyConstraints (q1)
if res [0]:
q1proj = res [1]
else:
raise RuntimeError ("Failed to apply constraint.")
