'RARM_JOINT6': 22,
'RARM_JOINT7': 23,
'LARM_JOINT0': 24,
'LARM_JOINT1': 25,
'LARM_JOINT2': 26,
'LARM_JOINT3': 27,
'LARM_JOINT4': 28,
'LARM_JOINT5': 29,
'LARM_JOINT6': 30,
'LARM_JOINT7': 31
}
dyn = DynamicHrp2('dyn')
dyn2 = DynamicHrp2('dyn2')
enableTrace(True, '/tmp/sot.out')
#import dynfilessmall
dyn2.setFiles(
'/home/florent/devel/sot/unstable/share/hrp2_10-small/',
'HRP2JRLmainSmall.wrl',
'/home/florent/devel/sot/unstable/share/hrp2_10-small/' +
'HRP2SpecificitiesSmall.xml',
'/home/florent/devel/sot/unstable/share/hrp2_10-small/' +
'HRP2LinkJointRankSmall.xml')
dyn.setFiles(
'/home/florent/devel/sot/unstable/share/hrp2_10-small/',
'HRP2JRLmainSmall.wrl',
'/home/florent/devel/sot/unstable/share/hrp2_10-small/' +
'HRP2SpecificitiesSmall.xml',
'/home/florent/devel/sot/unstable/share/hrp2_10-small/' +
from dynamic_graph.sot.core.task import Task
from dynamic_graph.sot.core.constraint import Constraint
from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
from dynamic_graph.sot.core.sot import SOT
try:
from dynamic_graph.sot.core import OpPointModifior
OpPointModifier = OpPointModifior
except ImportError:
from dynamic_graph.sot.core import OpPointModifier
dimension = 36
dyn = DynamicHrp2('dyn')
dyn2 = DynamicHrp2('dyn2')
enableTrace(True, '/home/shak/tmp/sot.out')
#import dynfilessmall
dyn2.setFiles('/home/shak/compil/collodi/share/robot/HRP2JRL/model/',
'HRP2JRLmainsmall.wrl',
'/home/shak/compil/collodi/share/hrp2_14/' +
'HRP2SpecificitiesSmall.xml',
'/home/shak/compil/collodi/share/hrp2_14/' +
'HRP2LinkJointRankSmall.xml')
dyn.setFiles('/home/shak/compil/collodi/share/robot/HRP2JRL/model/',
'HRP2JRLmainsmall.wrl',
'/home/shak/compil/collodi/share/hrp2_14/' +
'HRP2SpecificitiesSmall.xml',
'/home/shak/compil/collodi/share/hrp2_14/' +
'HRP2LinkJointRankSmall.xml')
from dynamic_graph.sot.core.feature_generic import FeatureGeneric
from dynamic_graph.sot.core.feature_joint_limits import FeatureJointLimits
from dynamic_graph.sot.core.binary_op import Compose_R_and_T
from dynamic_graph.sot.core.task import Task
from dynamic_graph.sot.core.constraint import Constraint
from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
from dynamic_graph.sot.core.sot import SOT
# hrp2-10
dimension = 38
joints = {'RLEG_JOINT0':0, 'RLEG_JOINT1':1, 'RLEG_JOINT2':2, 'RLEG_JOINT3':3, 'RLEG_JOINT4':4, 'RLEG_JOINT5':5, 'LLEG_JOINT0':6, 'LLEG_JOINT1':7, 'LLEG_JOINT2':8, 'LLEG_JOINT3':9, 'LLEG_JOINT4':10, 'LLEG_JOINT5':11, 'CHEST_JOINT0':12, 'CHEST_JOINT1':13, 'HEAD_JOINT0':14, 'HEAD_JOINT1':15, 'RARM_JOINT0':16, 'RARM_JOINT1':17, 'RARM_JOINT2':18, 'RARM_JOINT3':19, 'RARM_JOINT4':20, 'RARM_JOINT5':21, 'RARM_JOINT6':22, 'RARM_JOINT7':23, 'LARM_JOINT0':24, 'LARM_JOINT1':25, 'LARM_JOINT2':26, 'LARM_JOINT3':27, 'LARM_JOINT4':28, 'LARM_JOINT5':29, 'LARM_JOINT6':30, 'LARM_JOINT7':31}
dyn = DynamicHrp2('dyn')
dyn2 = DynamicHrp2('dyn2')
enableTrace(True, '/tmp/sot.out')
#import dynfilessmall
dyn2.setFiles('/home/florent/devel/sot/unstable/share/hrp2_10-small/',
'HRP2JRLmainSmall.wrl',
'/home/florent/devel/sot/unstable/share/hrp2_10-small/' +
'HRP2SpecificitiesSmall.xml',
'/home/florent/devel/sot/unstable/share/hrp2_10-small/' +
'HRP2LinkJointRankSmall.xml')
dyn.setFiles('/home/florent/devel/sot/unstable/share/hrp2_10-small/',
'HRP2JRLmainSmall.wrl',
'/home/florent/devel/sot/unstable/share/hrp2_10-small/' +
'HRP2SpecificitiesSmall.xml',
'/home/florent/devel/sot/unstable/share/hrp2_10-small/' +
'HRP2LinkJointRankSmall.xml')