(shapes['r_hand_palm'], shapes['wall'])] }) opt = {'avoidance horizon': .1} sopt = {"show_progress": False} lqpc = LQPcontroller(gforcemax, tasks=tasks, data=data, options=opt, solver_options=sopt) w.register(lqpc) w.register(KpTable(bodies['wall'], 0.05, 2., 100.)) ############################ # # # SET OBSERVERS & SIMULATE # # # ############################ obs = get_usual_observers(w) ## SIMULATE from numpy import arange from arboris.core import simulate simulate(w, arange(0, 5., 0.01), obs) ########### # # # RESULTS # # # ########### print("end of the simulation")
## 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 # # # ############################ obs = get_usual_observers(w) from common import RecordWrench obs.append(RecordWrench(const["const"])) ## SIMULATE from numpy import arange from arboris.core import simulate simulate(w, arange(0,3,0.01), obs) ########### # # # RESULTS # # # ###########