Commit b173e63b authored by Andrea Del Prete's avatar Andrea Del Prete
Browse files

[py] Add config variable to specify whether end-effector task should be...

[py] Add config variable to specify whether end-effector task should be formulated in local frame or world frame.
parent 96c67282
Pipeline #13283 passed with stage
in 19 minutes and 55 seconds
......@@ -45,7 +45,7 @@ class TsidManipulator:
self.eeTask.setKp(self.conf.kp_ee * np.ones(6))
self.eeTask.setKd(2.0 * np.sqrt(self.conf.kp_ee) * np.ones(6))
self.eeTask.setMask(conf.ee_task_mask)
self.eeTask.useLocalFrame(False)
self.eeTask.useLocalFrame(conf.ee_task_local_frame)
self.EE = model.getFrameId(conf.ee_frame_name)
H_ee_ref = self.robot.framePosition(formulation.data(), self.EE)
self.trajEE = tsid.TrajectorySE3Constant("traj-ee", H_ee_ref)
......
......@@ -34,6 +34,7 @@ v_max_scaling = 0.4
ee_frame_name = "ee_fixed_joint" # end-effector frame name
ee_task_mask = np.array([1., 1, 1, 0, 0, 0])
ee_task_local_frame = False # specifies whether task is formulated in local frame
PRINT_N = 500 # print every PRINT_N time steps
DISPLAY_N = 20 # update robot configuration in viwewer every DISPLAY_N time steps
......
......@@ -34,6 +34,7 @@ v_max_scaling = 0.4 # scaling factor of velocity bounds
ee_frame_name = "ee_fixed_joint" # end-effector frame name
ee_task_mask = np.array([1., 1, 1, 0, 0, 0])
ee_task_local_frame = False # specifies whether task is formulated in local frame
PRINT_N = 500 # print every PRINT_N time steps
DISPLAY_N = 20 # update robot configuration in viwewer every DISPLAY_N time steps
......
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