def initPostureTask(robot):
# --- TASK POSTURE --------------------------------------------------
# set a default position for the joints.
robot.features['featurePosition'] = FeaturePosture('featurePosition')
plug(robot.device.state, robot.features['featurePosition'].state)
robot.features['featurePosition'].posture.value = robot.halfSitting
# Remove the dofs of the feet.
postureTaskDofs = [True] * (len(robot.dynamic.position.value) - 6)
jla = robot.dynamic.signal('J' +
robot.OperationalPointsMap['left-ankle']).value
postureTaskDofs = removeDofUsed(jla, postureTaskDofs)
jra = robot.dynamic.signal('J' +
robot.OperationalPointsMap['right-ankle']).value
postureTaskDofs = removeDofUsed(jra, postureTaskDofs)
for dof, isEnabled in enumerate(postureTaskDofs):
robot.features['featurePosition'].selectDof(dof + 6, isEnabled)
robot.tasks['robot_task_position'] = Task('robot_task_position')
robot.tasks['robot_task_position'].add('featurePosition')
gainPosition = GainAdaptive('gainPosition')
gainPosition.set(0.1, 0.1, 125e3)
gainPosition.gain.value = 5
plug(robot.tasks['robot_task_position'].error, gainPosition.error)
plug(gainPosition.gain, robot.tasks['robot_task_position'].controlGain)
class MetaTaskKine6d(MetaTask6d):
def createTask(self):
self.task = Task('task' + self.name)
def createGain(self):
self.gain = GainAdaptive('gain' + self.name)
self.gain.set(0.1, 0.1, 125e3)
def plugEverything(self):
self.feature.setReference(self.featureDes.name)
plug(self.dyn.signal(self.opPoint), self.feature.signal('position'))
plug(self.dyn.signal('J' + self.opPoint), self.feature.signal('Jq'))
self.task.add(self.feature.name)
plug(self.task.error, self.gain.error)
plug(self.gain.gain, self.task.controlGain)
def keep(self):
self.feature.position.recompute(self.dyn.position.time)
self.feature.keep()
class MetaTask6d(object):
name = ''
opPoint = ''
dyn = 0
task = 0
feature = 0
featureDes = 0
def opPointExist(self, opPoint):
sigsP = [x for x in self.dyn.signals() if x.getName().split(':')[-1] == opPoint]
sigsJ = [x for x in self.dyn.signals() if x.getName().split(':')[-1] == 'J' + opPoint]
return len(sigsP) == 1 & len(sigsJ) == 1
def defineDynEntities(self, dyn):
self.dyn = dyn
def createOpPoint(self, opPoint, opPointRef='right-wrist'):
self.opPoint = opPoint
if self.opPointExist(opPoint):
return
self.dyn.createOpPoint(opPoint, opPointRef)
def createOpPointModif(self):
self.opPointModif = OpPointModifier('opmodif' + self.name)
plug(self.dyn.signal(self.opPoint), self.opPointModif.signal('positionIN'))
plug(self.dyn.signal('J' + self.opPoint), self.opPointModif.signal('jacobianIN'))
self.opPointModif.activ = False
def createFeatures(self):
self.feature = FeaturePoint6d('feature' + self.name)
self.featureDes = FeaturePoint6d('feature' + self.name + '_ref')
self.feature.selec.value = Flags('111111')
self.feature.frame('current')
def createTask(self):
self.task = Task('task' + self.name)
def createGain(self):
self.gain = GainAdaptive('gain' + self.name)
self.gain.set(0.1, 0.1, 125e3)
def plugEverything(self):
self.feature.setReference(self.featureDes.name)
plug(self.dyn.signal(self.opPoint), self.feature.signal('position'))
plug(self.dyn.signal('J' + self.opPoint), self.feature.signal('Jq'))
self.task.add(self.feature.name)
plug(self.task.error, self.gain.error)
plug(self.gain.gain, self.task.controlGain)
def keep(self):
self.feature.position.recompute(self.dyn.position.time)
self.feature.keep()
def __init__(self, name, dyn, opPoint, opPointRef='right-wrist'):
self.name = name
self.defineDynEntities(dyn)
self.createOpPoint(opPoint, opPointRef)
self.createOpPointModif()
self.createFeatures()
self.createTask()
self.createGain()
self.plugEverything()
@property
def ref(self):
return self.featureDes.position.value
@ref.setter
def ref(self, m):
self.featureDes.position.value = m
@property
def opmodif(self):
if not self.opPointModif.activ:
return False
else:
return self.opPointModif.getTransformation()
@opmodif.setter
def opmodif(self, m):
if isinstance(m, bool) and not m:
plug(self.dyn.signal(self.opPoint), self.feature.signal('position'))
plug(self.dyn.signal('J' + self.opPoint), self.feature.signal('Jq'))
self.opPointModif.activ = False
else:
if not self.opPointModif.activ:
plug(self.opPointModif.signal('position'), self.feature.position)
plug(self.opPointModif.signal('jacobian'), self.feature.Jq)
self.opPointModif.setTransformation(m)
self.opPointModif.activ = True
class MetaTaskVisualPoint(object):
name = ''
opPoint = ''
dyn = 0
task = 0
feature = 0
featureDes = 0
proj = 0
def opPointExist(self, opPoint):
sigsP = filter(lambda x: x.getName().split(':')[-1] == opPoint,
self.dyn.signals())
sigsJ = filter(lambda x: x.getName().split(':')[-1] == 'J' + opPoint,
self.dyn.signals())
return len(sigsP) == 1 & len(sigsJ) == 1
def defineDynEntities(self, dyn):
self.dyn = dyn
def createOpPoint(self, opPoint, opPointRef='right-wrist'):
self.opPoint = opPoint
if self.opPointExist(opPoint):
return
self.dyn.createOpPoint(opPoint, opPointRef)
def createOpPointModif(self):
self.opPointModif = OpPointModifier('opmodif' + self.name)
plug(
self.dyn.signal(self.opPoint),
self.opPointModif.signal('positionIN'))
plug(
self.dyn.signal('J' + self.opPoint),
self.opPointModif.signal('jacobianIN'))
self.opPointModif.activ = False
def createFeatures(self):
self.feature = FeatureVisualPoint('feature' + self.name)
self.featureDes = FeatureVisualPoint('feature' + self.name + '_ref')
self.feature.selec.value = '11'
def createTask(self):
self.task = Task('task' + self.name)
def createGain(self):
self.gain = GainAdaptive('gain' + self.name)
self.gain.set(0.1, 0.1, 125e3)
def createProj(self):
self.proj = VisualPointProjecter('proj' + self.name)
def plugEverything(self):
self.feature.setReference(self.featureDes.name)
plug(self.dyn.signal(self.opPoint), self.proj.signal('transfo'))
plug(self.proj.signal('point2D'), self.feature.signal('xy'))
plug(self.proj.signal('depth'), self.feature.signal('Z'))
plug(self.dyn.signal('J' + self.opPoint), self.feature.signal('Jq'))
self.task.add(self.feature.name)
plug(self.task.error, self.gain.error)
plug(self.gain.gain, self.task.controlGain)
def __init__(self, name, dyn, opPoint, opPointRef='right-wrist'):
self.name = name
self.defineDynEntities(dyn)
self.createOpPoint(opPoint, opPointRef)
self.createOpPointModif()
self.createFeatures()
self.createTask()
self.createGain()
self.createProj()
self.plugEverything()
@property
def ref(self):
return self.featureDes.xy.value
@ref.setter
def ref(self, m):
self.featureDes.xy.value = m
@property
def target(self):
return self.proj.point3D
@target.setter
def target(self, m):
self.proj.point3D.value = m
@property
def opmodif(self):
if not self.opPointModif.activ:
return False
else:
return self.opPointModif.getTransformation()
@opmodif.setter
def opmodif(self, m):
if isinstance(m, bool) and not m:
plug(self.dyn.signal(self.opPoint), self.proj.signal('transfo'))
plug(
self.dyn.signal('J' + self.opPoint), self.feature.signal('Jq'))
self.opPointModif.activ = False
else:
if not self.opPointModif.activ:
plug(
self.opPointModif.signal('position'),
self.proj.signal('transfo'))
plug(
self.opPointModif.signal('jacobian'),
self.feature.signal('Jq'))
self.opPointModif.setTransformation(m)
self.opPointModif.activ = True
def goto3D(self, point3D, gain=None, ref2D=None, selec=None):
self.target = point3D
if ref2D is not None:
self.ref = ref2D
if selec is not None:
self.feature.selec.value = selec
setGain(self.gain, gain)