def setupJointLimitTask():
featureJl = FeatureJointLimits('featureJl')
featureJl.actuate()
dyn = robot.dynamic
plug(dyn.signal('position'), featureJl.signal('joint'))
plug(dyn.signal('upperJl'), featureJl.signal('upperJl'))
plug(dyn.signal('lowerJl'), featureJl.signal('lowerJl'))
taskJl = Task('taskJl')
taskJl.add('featureJl')
taskJl.signal('controlGain').value = .1
class Nao(AbstractHumanoidRobot):
"""
This class instanciates a Nao robot as a humanoid robot
"""
halfSitting = tuple([0.,0.,.31,0.,0.,0.] + halfSitting)
def __init__(self, name, filename):
AbstractHumanoidRobot.__init__(self, name)
self.OperationalPoints.append('waist')
p = Parser(self.name + '_dynamic', filename)
self.dynamic = p.parse()
self.dimension = self.dynamic.getDimension()
if self.dimension != len(self.halfSitting):
raise RuntimeError("invalid half-sitting pose")
self.initializeRobot()
self.compoundDrive = CompoundDrive(self.name + '_compoundDrive',
self.device)
self.compoundDriveTask = Task(self.name + '_compoundDriveTask')
self.compoundDriveTask.add(self.name + '_compoundDrive')
self.compoundDriveTask.signal('controlGain').value = 1.
