Commit 70828f38 authored by Francois Keith's avatar Francois Keith
Browse files

Purposefully add some gaps in the walk script.

parent 5a1b8ecc
......@@ -76,19 +76,30 @@ plug(pg.pg.leftfootref,taskLF.featureDes.position)
taskLF.task.controlGain.value = 40
############################################################################
# Complete the task definition here.
# ---- WAIST TASK ORIENTATION ---
# set the orientation of the waist to be the same as the one of the foot.
# Define a metaTask for a 6d task controlling the waistOrientation.
taskWaistOr=MetaTask6d('waistOr',robot.dynamic,'waist','waist')
taskWaistOr.task.controlGain.value = 40
plug(pg.pg.rightfootref,taskWaistOr.featureDes.position)
taskWaistOr.feature.selec.value = '100000'
# 1\ define the rightfootrefence given by the entity pg
# as the desired position for the taskWaistOrientation.
# 2\ only constrain the Yaw for the waist.
# ---- HEAD ORIENTATION ---
# set the orientation of the gaze (head) to be the same as the one of the foot.
taskHead=MetaTask6d('head',robot.dynamic,'gaze','gaze')
plug(taskRF.featureDes.position, taskHead.featureDes.position)
taskHead.feature.selec.value = '111000'
taskHead.task.controlGain.value = 5
# Define a metaTask for a 6d task controlling the waistOrientation.
# 1\ Define a MetaTask6d taskHead, constaining the head, attached to the gaze link
# 2\ Link the orientation of the right foot to the desired position of the head.
# 3\ Only constraint the rotation of the head.
# 4\ Choose the gain
# --- RUN ----------------------------------------------------------------------
# --- RUN ----------------------------------------------------------------------
......@@ -97,7 +108,9 @@ solver.push(taskWaist.task)
solver.push(taskRF.task)
solver.push(taskLF.task)
solver.push(taskCom.task)
solver.push(taskWaistOr.task)
# Activate your new tasks.
# solver.push(taskWaistOr.task)
# solver.push(taskHead.task)
# --- HERDT PG AND START -------------------------------------------------------
# Set the algorithm generating the ZMP reference trajectory to Herdt's one.
......
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