Python get_usual_observers Exemples

Exemple #1

                         (shapes['r_hand_palm'], shapes['wall'])]
})
opt = {'avoidance horizon': .1}
sopt = {"show_progress": False}
lqpc = LQPcontroller(gforcemax,
                     tasks=tasks,
                     data=data,
                     options=opt,
                     solver_options=sopt)
w.register(lqpc)

w.register(KpTable(bodies['wall'], 0.05, 2., 100.))
############################
#                          #
# SET OBSERVERS & SIMULATE #
#                          #
############################
obs = get_usual_observers(w)

## SIMULATE
from numpy import arange
from arboris.core import simulate
simulate(w, arange(0, 5., 0.01), obs)

###########
#         #
# RESULTS #
#         #
###########
print("end of the simulation")

Exemple #2

Fichier : 05_force_control.py Projet : mickey79/LQPctrl

## LQP CONTROLLER
from LQPctrl.LQPctrl import LQPcontroller
gforcemax = {"Shoulder":10,"Elbow":5,"Wrist":2}

lqpc = LQPcontroller(gforcemax, tasks=tasks)
w.register(lqpc)


############################
#                          #
# SET OBSERVERS & SIMULATE #
#                          #
############################
obs = get_usual_observers(w)

from common import RecordWrench
obs.append(RecordWrench(const["const"]))

## SIMULATE
from numpy import arange
from arboris.core import simulate
simulate(w, arange(0,3,0.01), obs)


###########
#         #
# RESULTS #
#         #
###########