w.update_dynamic()
spine_joints = [joints['torso_'+n] for n in ['pitch', 'roll', 'yaw']] + \
[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(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=.01
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]),
[SetF("in CH", True)] ))
w.update_dynamic()
spine_joints = [joints['torso_'+n] for n in ['pitch', 'roll', 'yaw']] + \
[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)))
w.update_dynamic()
spine_joints = [joints['torso_'+n] for n in ['pitch', 'roll', 'yaw']] + \
[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(spine_joints, KpCtrl(zeros(len(spine_joints)), 10), [], 1e-2 , 0, True, "spine"))
## EVENTS
events = []
## LQP CONTROLLER
from LQPctrl.LQPctrl import LQPcontroller
gforcemax = icub.get_torque_limits()
lqpc = LQPcontroller(gforcemax, tasks=tasks)
w.register(lqpc)
############################
