def inc(): robot.increment(dt) # Execute a function at time t, if specified with t.add(...) # if 'refresh' in ZmpEstimator.__dict__: zmp.refresh() attime.run(robot.control.time) # robot.viewer.updateElementConfig('zmp',[zmp.zmp.value[0],zmp.zmp.value[1],0,0,0,0]) if dyn.com.time >0: robot.viewer.updateElementConfig('com',[dyn.com.value[0],dyn.com.value[1],0,0,0,0])
def inc(): robot.increment(dt) # Execute a function at time t, if specified with t.add(...) # if 'refresh' in ZmpEstimator.__dict__: zmp.refresh() attime.run(robot.control.time) # robot.viewer.updateElementConfig('zmp',[zmp.zmp.value[0],zmp.zmp.value[1],0,0,0,0]) if dyn.com.time > 0: robot.viewer.updateElementConfig( 'com', [dyn.com.value[0], dyn.com.value[1], 0, 0, 0, 0])
def inc(): robot.device.increment(robot.timeStep) attime.run(robot.device.control.time) updateComDisplay(robot.device, robot.dynamic.com) if (robot.device.state.value[9] == 0.7): print "\nReached right joint limit" if (robot.device.state.value[15] == 0.7): print "\nReached left joint limit"
def inc(): contactSelect.update(pg) robot.increment(dt) attime.run(robot.control.time) # if 'refresh' in ZmpEstimator.__dict__: zmp.refresh() # robot.viewer.updateElementConfig('zmp',[zmp.zmp.value[0],zmp.zmp.value[1],0,0,0,0]) if dyn.com.time >0: robot.viewer.updateElementConfig('com',[dyn.com.value[0],dyn.com.value[1],0,0,0,0])
def inc(): catch_exception = False robot.device.increment(robot.timeStep) attime.run(robot.device.control.time) updateComDisplay(robot.device, robot.dynamic.com) if state == 'tryF': updateToolDisplay(robot.mTasks['screw'], linalg.inv(TwoHandToolToScrewMatrix), robot.device) if 'state' in globals(): supervision()
def inc(): robot.device.increment(robot.timeStep) attime.run(robot.device.control.time) updateComDisplay(robot.device, robot.dynamic.com) if state >= 3 and state <= 21: updateToolDisplay(robot.mTasks['screw'], linalg.inv(TwoHandToolToScrewMatrix), robot.device) """ if state >= 3 and state <= 21: record_zmp(robot.device,robot.dynamic,zmp_out,robot.timeStep) record_hip(robot.device,robot.dynamic,hip_out,robot.timeStep) record_pos(robot.device,robot.dynamic,pos_out,robot.timeStep) """ if 'state' in globals(): supervision()
def inc(): robot.device.increment(dt) attime.run(robot.device.control.time) history.record()
def inc(): robot.device.increment(dt) attime.run(robot.device.control.time)
def inc(): robot.increment(dt) attime.run(robot.control.time) updateComDisplay(robot,dyn.com) history.record()
def inc(): robot.increment(dt) attime.run(robot.control.time) updateComDisplay(robot, dyn.com) history.record()
def inc(): robot.device.increment(robot.timeStep) attime.run(robot.device.control.time) updateComDisplay(robot.device, robot.dynamic.com)
def inc(): robot.device.increment(dt) attime.run(robot.device.control.time) updateComDisplay(robot,robot.dynamic.com)
def inc(): robot.increment(dt) attime.run(robot.control.time) updateComDisplay(robot, dyn.com) updateToolDisplay(taskRH, RHToTwoHandToolMatrix, robot)
def do(): robot.increment(dt) attime.run(robot.control.time) updateComDisplay(robot, dyn.com) updateToolDisplay(taskScrew, linalg.inv(TwoHandToolToScrewMatrix), robot)