check_the_pickle(dhp, dh) # check that two mechanisms have identical DH params #################################################################################### ## # Set up the BT Leaves # # ikbt = b3.BehaviorTree() LeafDebug = False SolverDebug = False ###add in new nodes:assigner and rank node############# asgn = assigner() asgn.Name = "Assigner" rk = rank() rk.Name = "Rank Node" ####################################################### tanID = tan_id() tanID.Name = 'Tangent ID' tanID.BHdebug = LeafDebug tanSolver = tan_solve() tanSolver.BHdebug = SolverDebug tanSolver.Name = "Tangent Solver" tanSol = b3.Sequence([tanID, tanSolver]) tanSol.Name = "TanID+Solv" tanSol.BHdebug = LeafDebug algID = algebra_id()
check_the_pickle(dhp, dh) # check that two mechanisms have identical DH params #################################################################################### ## # Set up the BT Leaves # # ikbt = b3.BehaviorTree() LeafDebug = False SolverDebug = False ###add in new nodes:assigner and rank node############# asgn = assigner() asgn.Name = "Assigner" rankNode = rank() rankNode.Name = "Rank Node" ####################################################### tanID = tan_id() tanID.Name = 'Tangent ID' tanID.BHdebug = LeafDebug tanSolver = tan_solve() tanSolver.BHdebug = SolverDebug tanSolver.Name = "Tangent Solver" tanSol = b3.Sequence([tanID, tanSolver]) tanSol.Name = "TanID+Solv" tanSol.BHdebug = True #LeafDebug