def setUp(self):
Test_3R_LQPCtrl.setUp(self)
self.tasks.append(
MultiTorqueTask(self.joints, ValueCtrl([.03, .02, .01]), [], 1., 0,
True))
def setUp(self):
Test_3R_LQPCtrl.setUp(self)
self.tasks.append(LQPCoMTask(KpCtrl([0, 0, 0], 10), [], 1., 0, True))
def setUp(self):
Test_3R_LQPCtrl.setUp(self)
self.tasks.append(
TorqueTask(self.joints["Shoulder"], ValueCtrl(-.1), [], 1., 0,
True))
def setUp(self):
Test_3R_LQPCtrl.setUp(self)
self.tasks.append(
MultiJointTask(self.joints, KpCtrl([.1, .1, .1], 10), [], 1., 0,
True))
def setUp(self):
Test_3R_LQPCtrl.setUp(self)
self.tasks.append(
FrameTask(self.frames["EndEffector"], KpCtrl(eye(4), 10), [], 1.,
0, True))
def setUp(self):
Test_3R_LQPCtrl.setUp(self)
self.tasks.append(MultiTorqueTask(self.joints, ValueCtrl([.03,.02,.01]), [],1.,0, True))
def setUp(self):
Test_3R_LQPCtrl.setUp(self)
self.tasks.append(
JointTask(self.joints["Shoulder"], KpCtrl(0.1, 10), [], 1., 0,
True))
def setUp(self):
Test_3R_LQPCtrl.setUp(self)
self.tasks.append(TorqueTask(self.joints["Shoulder"], ValueCtrl(-.1), [],1.,0, True))
def setUp(self):
Test_3R_LQPCtrl.setUp(self)
self.tasks.append(LQPCoMTask(KpCtrl([0,0,0], 10), [],1.,0, True))
def setUp(self):
Test_3R_LQPCtrl.setUp(self)
self.tasks.append(FrameTask(self.frames["EndEffector"], KpCtrl(eye(4), 10), [],1.,0, True))
def setUp(self):
Test_3R_LQPCtrl.setUp(self)
self.tasks.append(MultiJointTask(self.joints, KpCtrl([.1,.1,.1], 10), [], 1., 0, True))
def setUp(self):
Test_3R_LQPCtrl.setUp(self)
self.tasks.append(JointTask(self.joints["Shoulder"], KpCtrl(0.1, 10), [], 1., 0, True))