appli.robot.addTrace( stabilizer.name, 'stateError') appli.robot.addTrace( stabilizer.name, 'state') appli.robot.addTrace( stabilizer.name, 'control') appli.robot.addTrace( stabilizer.name, 'task') appli.robot.addTrace( stabilizer.name, 'integratedTask') #appli.robot.addTrace( robot.device.name, 'control') #appli.robot.addTrace( robot.device.name, 'state') appli.startTracer() appli.nextStep() appli.nextStep(3) appli.nextStep(2) # Perturbation Generator on control perturbatorControl = VectorPerturbationsGenerator('perturbatedControl') perturbatorControl.setSinLessMode(True) vect1 = perturbatorControl.sin vect1.value = (0,0,0,0,0) plug (perturbatorControl.sout,stabilizer.perturbationAcc) appli.robot.addTrace( perturbatorControl.name, 'sout') perturbatorControl.perturbation.value=(1,1,0,1,1) perturbatorControl.selec.value = '11111' perturbatorControl.setMode(2) perturbatorControl.activate(False) # Perturbation Generator on task perturbatorTask = VectorPerturbationsGenerator('perturbatedTask') perturbatorTask.setSinLessMode(True) vect = perturbatorTask.sin vect.value = (0,0,0,0,0) plug (perturbatorTask.sout,stabilizer.perturbationVel)
plug(stab.control,model.control) plug(model.com,stab.com) plug(model.waistHomo,stab.waistHomo) plug(model.flexOriVect,stab.flexOriVect) plug(model.comDot,stab.comDot) plug(model.waistAngVel,stab.waistAngVel) plug(model.flexAngVelVect,stab.flexAngVelVect) plug(model.contact1Pos,stab.leftFootPosition) plug(model.contact2Pos,stab.rightFootPosition) plug(model.contact1Forces,stab.force_lf) plug(model.contact2Forces,stab.force_rf) plug(model.angularMomentum,stab.angularmomentum) perturbator = VectorPerturbationsGenerator('perturbation') perturbator.setSinLessMode(True) vect = perturbator.sin vect.value = stab.comRef.value plug (perturbator.sout,stab.perturbationAcc) perturbator.perturbation.value=(10,0,0) perturbator.selec.value = '111' perturbator.setMode(0) perturbator.setPeriod(1500) perturbator.activate(True) stab.start() stepTime = 7.5 step2Time=15 step3Time=22.5 simuTime =30