def create_com_trajectory_generator(dt, robot):
comTrajGen = NdTrajectoryGenerator("comTrajGen")
comTrajGen.initial_value.value = robot.dynamic.com.value
comTrajGen.trigger.value = 1.0
comTrajGen.init(dt, 3)
return comTrajGen
def create_force_traj_gen(name, initial_value, dt):
force_traj_gen = NdTrajectoryGenerator(name)
force_traj_gen.initial_value.value = initial_value
force_traj_gen.init(dt, 6)
return force_traj_gen
def create_joint_trajectory_generator(dt, robot):
jtg = NdTrajectoryGenerator("jtg")
jtg.initial_value.value = robot.device.state.value[6:]
jtg.trigger.value = 1.0
jtg.init(dt, N_JOINTS)
return jtg
def create_com_traj_gen(conf, dt):
com_traj_gen = NdTrajectoryGenerator("com_traj_gen")
com_traj_gen.initial_value.value = conf.COM_DES
com_traj_gen.init(dt, 3)
return com_traj_gen