[py] Add config variable to specify whether end-effector task should be formulated in local frame or world frame.

Author: andreadelprete

exercizes/tsid_manipulator.py

@@ -45,7 +45,7 @@ def __init__(self, conf, viewer=True):
         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)

exercizes/ur5_conf.py

@@ -34,6 +34,7 @@
 
 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

exercizes/ur5_reaching_conf.py

@@ -34,6 +34,7 @@
 
 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