Python FeatureJointLimitsの例

コード例 #1

ファイル: random_posture.py プロジェクト: trigrass2/etc

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

コード例 #2

ファイル: sot-gaze-tests.py プロジェクト: sovannara-hak/sot-gaze

featureRightArm.signal('jacobianIN').value = reduce(lambda jac, i : jac + ((22+i)*(0.,)+(1.,)+(13-i)*(0.,),), range(7), ())
featureRightArm.signal('errorIN').value = (0.,0.,0.,0.,0.,0.,0.)
taskRightArm = Task('taskRightArm')
taskRightArm.add('featureRightArm')
taskRightArm.signal('controlGain').value = 1.

# --- Task LeftArm for  blocking the left arm
featureLeftArm = FeatureGeneric('featureLeftArm')
featureLeftArm.signal('jacobianIN').value = reduce(lambda jac, i : jac + ((29+i)*(0.,)+(1.,)+(6-i)*(0.,),), range(7), ())
featureLeftArm.signal('errorIN').value = 7*(0,)
taskLeftArm = Task('taskLeftArm')
taskLeftArm.add('featureLeftArm')
taskLeftArm.signal('controlGain').value = 1

# --- Joint Limits
featureJl = FeatureJointLimits('featureJl')
featureJl.actuate()
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

# --- LEGS
featureLegs = FeatureGeneric('featureLegs')
jacobianLegs = MatrixConstant('jacobianLegs')
jac = 12*[dimension*[0.]]
jac[0][6] = 1.
jac[1][7] = 1.
jac[2][8] = 1.

コード例 #3

ファイル: simusmall.py プロジェクト: trigrass2/etc

taskRightArm = Task('taskRightArm')
taskRightArm.add('featureRightArm')
taskRightArm.signal('controlGain').value = 1.

# --- Task LeftArm for  blocking the left arm
featureLeftArm = FeatureGeneric('featureLeftArm')
featureLeftArm.signal('jacobianIN').value = reduce(
    lambda jac, i: jac + ((29 + i) * (0., ) + (1., ) + (6 - i) * (0., ), ),
    range(7), ())
featureLeftArm.signal('errorIN').value = 7 * (0, )
taskLeftArm = Task('taskLeftArm')
taskLeftArm.add('featureLeftArm')
taskLeftArm.signal('controlGain').value = 1

# --- Joint Limits
featureJl = FeatureJointLimits('featureJl')
featureJl.actuate()
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

# --- LEGS
featureLegs = FeatureGeneric('featureLegs')
jacobianLegs = MatrixConstant('jacobianLegs')
jac = 12 * [dimension * [0.]]
jac[0][6] = 1.
jac[1][7] = 1.
jac[2][8] = 1.