pg.parseCmd(":UpperBodyMotionParameters 0.0 -0.5 0.0")
pg.parseCmd(":comheight 0.814")
pg.parseCmd(":SetAlgoForZmpTrajectory Morisawa")
plug(robot.dynamic.position,pg.position)
plug(robot.dynamic.com,pg.com)
pg.motorcontrol.value = robot.dynamic.getDimension()*(0,)
pg.zmppreviouscontroller.value = (0,0,0)
pg.initState()
geom = RosSotRobotModel('geom')
geom.setNamespace('sot_controller')
geom.loadFromParameterServer()
geom.createOpPoint('rf','right-ankle')
geom.createOpPoint('lf','left-ankle')
plug(robot.dynamic.position,geom.position)
geom.ffposition.value = 6*(0,)
geom.velocity.value = robot.dynamic.getDimension()*(0,)
geom.acceleration.value = robot.dynamic.getDimension()*(0,)
comRef = Selector('comRef',['vector','ref',robot.dynamic.com,pg.comref])
plug(pg.inprocess,comRef.selec)
selecSupportFoot = Selector('selecSupportFoot',['matrixHomo','pg_H_sf',pg.rightfootref,pg.leftfootref],['matrixHomo','wa_H_sf',geom.rf,geom.lf])
plug(pg.SupportFoot,selecSupportFoot.selec)
sf_H_wa = Inverse_of_matrixHomo('sf_H_wa')
plug(selecSupportFoot.wa_H_sf,sf_H_wa.sin)
pg_H_wa = Multiply_of_matrixHomo('pg_H_wa')
pg.parseCmd(":UpperBodyMotionParameters 0.0 -0.5 0.0")
pg.parseCmd(":comheight 0.814")
pg.parseCmd(":SetAlgoForZmpTrajectory Morisawa")
plug(robot.dynamic.position, pg.position)
plug(robot.dynamic.com, pg.com)
pg.motorcontrol.value = robot.dynamic.getDimension() * (0, )
pg.zmppreviouscontroller.value = (0, 0, 0)
pg.initState()
geom = RosSotRobotModel('geom')
geom.setNamespace('sot_controller')
geom.loadFromParameterServer()
geom.createOpPoint('rf', 'right-ankle')
geom.createOpPoint('lf', 'left-ankle')
plug(robot.dynamic.position, geom.position)
geom.ffposition.value = 6 * (0, )
geom.velocity.value = robot.dynamic.getDimension() * (0, )
geom.acceleration.value = robot.dynamic.getDimension() * (0, )
comRef = Selector('comRef', ['vector', 'ref', robot.dynamic.com, pg.comref])
plug(pg.inprocess, comRef.selec)
selecSupportFoot = Selector(
'selecSupportFoot',
['matrixHomo', 'pg_H_sf', pg.rightfootref, pg.leftfootref],
['matrixHomo', 'wa_H_sf', geom.rf, geom.lf])
plug(pg.SupportFoot, selecSupportFoot.selec)
sf_H_wa = Inverse_of_matrixHomo('sf_H_wa')
