Python updateComDisplay Examples

Example #1

def inc():
    robot.device.increment(robot.timeStep)
    attime.run(robot.device.control.time)
    updateComDisplay(robot.device, robot.dynamic.com)

    if (robot.device.state.value[9] == 0.7):
        print "\nReached right joint limit"
    if (robot.device.state.value[15] == 0.7):
        print "\nReached left joint limit"

Example #2

def inc():
    catch_exception = False
    robot.device.increment(robot.timeStep)
    attime.run(robot.device.control.time)
    updateComDisplay(robot.device, robot.dynamic.com)
    if state == 'tryF':
        updateToolDisplay(robot.mTasks['screw'],
                          linalg.inv(TwoHandToolToScrewMatrix), robot.device)
    if 'state' in globals(): supervision()

Example #3

def inc():
    robot.device.increment(robot.timeStep)
    attime.run(robot.device.control.time)
    updateComDisplay(robot.device, robot.dynamic.com)

    if state >= 3 and state <= 21:
        updateToolDisplay(robot.mTasks['screw'],
                          linalg.inv(TwoHandToolToScrewMatrix), robot.device)
    """
    if state >= 3 and state <= 21:
        record_zmp(robot.device,robot.dynamic,zmp_out,robot.timeStep)
	record_hip(robot.device,robot.dynamic,hip_out,robot.timeStep)
	record_pos(robot.device,robot.dynamic,pos_out,robot.timeStep)
    """
    if 'state' in globals(): supervision()

Example #4

File: p96_sing.py Project: elie-moussy/sot-dyninv

def inc():
    robot.increment(dt)
    attime.run(robot.control.time)
    updateComDisplay(robot,dyn.com)
    history.record()

Example #5

def inc():
    robot.increment(dt)
    attime.run(robot.control.time)
    updateComDisplay(robot, dyn.com)
    history.record()

Example #6

File: kineromeo.py Project: elie-moussy/sot-dyninv

def inc():
    robot.increment(dt)
    updateComDisplay(robot,dyn.com)

Example #7

def inc():
    robot.device.increment(robot.timeStep)
    attime.run(robot.device.control.time)
    updateComDisplay(robot.device, robot.dynamic.com)

Example #8

File: romeo_ros_taskveldamp.py Project: Karsten1987/dyn-oppoint-modifier

def inc():
    robot.device.increment(dt)
    attime.run(robot.device.control.time)
    updateComDisplay(robot,robot.dynamic.com)

Example #9

File: walk_romeo.py Project: elie-moussy/sot-pattern-generator

def inc():
    robot.device.increment(dt)
    updateComDisplay(robot.device,robot.dynamic.com)

Example #10

def inc():
    robot.increment(dt)
    attime.run(robot.control.time)
    updateComDisplay(robot, dyn.com)
    updateToolDisplay(taskRH, RHToTwoHandToolMatrix, robot)

Example #11

DIM = 5
driftVector = [0] * DIM
for j in range(DIM):

    x0 = random.uniform(0, 1)
    y0 = random.uniform(0, 1)
    z0 = random.uniform(0.5, 1.5)
    roll = random.uniform(0, pi / 2)
    pitch = random.uniform(0, pi / 2)
    yaw = random.uniform(0, pi)
    halfSittingConfig[robotName] = (x0, y0, z0, roll, pitch,
                                    yaw) + halfSittingConfig[robotName][6:]

    q0 = list(halfSittingConfig[robotName])
    initialConfig[robotName] = tuple(q0)

    robot.set(initialConfig[robotName])

    for i in range(100):
        robot.increment(dt)
        updateComDisplay(robot, dyn.com)
        history.record()

    dyn.dynamicDrift.recompute(robot.control.time)
    driftVector[j] = linalg.norm(dyn.dynamicDrift.value)
    print "Iteration (" + str(j) + ") . DynamicDrift is: ||u|| = " + str(
        driftVector[j])

driftVector.sort()
print driftVector

Example #12

def do():
    robot.increment(dt)
    attime.run(robot.control.time)
    updateComDisplay(robot, dyn.com)
    updateToolDisplay(taskScrew, linalg.inv(TwoHandToolToScrewMatrix), robot)

Example #13

def inc():
    robot.increment(dt)
    updateComDisplay(robot, dyn.com)