def setUp(self): Test_simple_3R.setUp(self) self.joints["Shoulder"].gpos[:] = pi / 2. self.joints["Elbow"].gpos[:] = pi / 6. self.joints["Wrist"].gpos[:] = pi / 3. self.tasks = [TorqueTask(self.joints["Shoulder"], ValueCtrl(.1))] self.gforcemax = {"Shoulder": 10, "Elbow": 5, "Wrist": 2} self.dgforcemax = {} self.qlim = {} self.vlim = {} self.options = {}
# # ################################# w = create_3r_and_init(gpos=(.5, .5, .5)) joints = w.getjoints() ######################################### # # # CREATE TASKS, EVENTS & LQP controller # # # ######################################### ## TASKS from LQPctrl.task import TorqueTask from LQPctrl.task_ctrl import ValueCtrl tasks = [] goal = .1 tasks.append(TorqueTask(joints["Shoulder"], ValueCtrl(goal), [], 1., 0, True)) ## EVENTS events = [] ## LQP CONTROLLER from LQPctrl.LQPctrl import LQPcontroller gforcemax = {"Shoulder": 10, "Elbow": 5, "Wrist": 2} opt = {'base weights': (1e-10, 1e-10, 1e-10)} lqpc = LQPcontroller(gforcemax, tasks=tasks, options=opt) w.register(lqpc) ############################ # # # SET OBSERVERS & SIMULATE #
[joints['head_' +n] for n in ['pitch', 'roll', 'yaw']] ######################################### # # # CREATE TASKS, EVENTS & LQP controller # # # ######################################### ## TASKS from LQPctrl.task import MultiJointTask, ForceTask, FrameTask, CoMTask from LQPctrl.task_ctrl import KpCtrl, ValueCtrl, KpTrajCtrl tasks = NamedObjectsList([]) tasks.append(MultiJointTask(icub_joints, KpCtrl(sitting_pose, 10), [], 1e-3 , 0, True, "sitting_pose")) tasks.append(MultiJointTask(icub_joints, KpCtrl(standing_pose, 10), [], 0. , 0, True, "standing_pose")) tasks.append(MultiJointTask(spine_joints, KpCtrl(zeros(len(spine_joints)), 10), [], 1e-2 , 0, True, "spine")) tasks.append(ForceTask( const["l_gluteal"], ValueCtrl([0, 0, 0]) , [], 0., 0, True, "l_gluteal_force")) tasks.append(ForceTask( const["r_gluteal"], ValueCtrl([0, 0, 0]) , [], 0., 0, True, "r_gluteal_force")) tasks.append(FrameTask( frames["l_hip_2"], KpTrajCtrl([None,None,zeros((1,6))], 10), [3,4,5], 1., 0, True, "l_gluteal_acc")) tasks.append(FrameTask( frames["r_hip_2"], KpTrajCtrl([None,None,zeros((1,6))], 10), [3,4,5], 1., 0, True, "r_gluteal_acc")) tasks.append(CoMTask(icub_bodies, KpCtrl([0, 0, 0], 10), [0, 1], 0., 0, name='com')) ## EVENTS from LQPctrl.event import Event, AtT, Prtr, SetF, IfF, ChW, InCH, CAct, DelayF events = [] tt=.25 feet_frames = [frames[n] for n in ['lf1', 'lf2', 'lf3', 'lf4', 'rf1', 'rf2', 'rf3', 'rf4']] events.append(Event(AtT(.0), SetF("start lifting", False))) events.append(Event(AtT(.1), SetF("avance com", True))) events.append(Event(InCH(feet_frames, 'CoM', [0,1]),
def setUp(self): Test_3R_with_Plane_LQPCtrl.setUp(self) self.tasks.append( ForceTask(self.const['const'], ValueCtrl([0, 0, 0]), [], 1., 0, True))
def setUp(self): Test_3R_LQPCtrl.setUp(self) self.tasks.append( MultiTorqueTask(self.joints, ValueCtrl([.03, .02, .01]), [], 1., 0, True))
def setUp(self): Test_3R_LQPCtrl.setUp(self) self.tasks.append( TorqueTask(self.joints["Shoulder"], ValueCtrl(-.1), [], 1., 0, True))
## TASKS from LQPctrl.task import MultiJointTask, ForceTask, FrameTask, CoMTask from LQPctrl.task_ctrl import KpCtrl, ValueCtrl, KpTrajCtrl tasks = NamedObjectsList([]) tasks.append( MultiJointTask(icub_joints, KpCtrl(sitting_pose, 10), [], 1e-3, 0, True, "sitting_pose")) tasks.append( MultiJointTask(icub_joints, KpCtrl(standing_pose, 10), [], 0., 0, True, "standing_pose")) tasks.append( MultiJointTask(spine_joints, KpCtrl(zeros(len(spine_joints)), 10), [], 1e-2, 0, True, "spine")) tasks.append( ForceTask(const["l_gluteal"], ValueCtrl([0, 0, 0]), [], 0., 0, True, "l_gluteal_force")) tasks.append( ForceTask(const["r_gluteal"], ValueCtrl([0, 0, 0]), [], 0., 0, True, "r_gluteal_force")) tasks.append( FrameTask(frames["l_hip_2"], KpTrajCtrl([None, None, zeros((1, 6))], 10), [3, 4, 5], 1., 0, True, "l_gluteal_acc")) tasks.append( FrameTask(frames["r_hip_2"], KpTrajCtrl([None, None, zeros((1, 6))], 10), [3, 4, 5], 1., 0, True, "r_gluteal_acc")) tasks.append( CoMTask(icub_bodies, KpCtrl([0, 0, 0], 10), [0, 1], 0., 0, name='com'))
# # ################################# w = create_3r_and_init(gpos=(.5, .5, .5)) joints = w.getjoints() ######################################### # # # CREATE TASKS, EVENTS & LQP controller # # # ######################################### ## TASKS from LQPctrl.task import MultiTorqueTask from LQPctrl.task_ctrl import ValueCtrl tasks = [] goal = [.03, .02, .01] tasks.append(MultiTorqueTask(joints, ValueCtrl(goal), [], 1., 0, True)) ## EVENTS events = [] ## LQP CONTROLLER from LQPctrl.LQPctrl import LQPcontroller gforcemax = {"Shoulder": 10, "Elbow": 5, "Wrist": 2} lqpc = LQPcontroller(gforcemax, tasks=tasks) w.register(lqpc) ############################ # # # SET OBSERVERS & SIMULATE # # #
######################################### # # # CREATE TASKS, EVENTS & LQP controller # # # ######################################### ## TASKS from LQPctrl.task import ForceTask, FrameTask from LQPctrl.task_ctrl import ValueCtrl, KpCtrl from arboris.homogeneousmatrix import rotz, transl from numpy import pi tasks = [] goal = rotz(pi / 8) goal[0:3, 3] = [-0.4, .5, 0] goal = transl(-.8, -.5, 0) tasks.append( ForceTask(const["const"], ValueCtrl([0, 0.001, .01]), [], 1., 0, True)) ## EVENTS events = [] ## LQP CONTROLLER from LQPctrl.LQPctrl import LQPcontroller gforcemax = {"Shoulder": 10, "Elbow": 5, "Wrist": 2} lqpc = LQPcontroller(gforcemax, tasks=tasks) w.register(lqpc) ############################ # # # SET OBSERVERS & SIMULATE # # #