Python Compose_R_and_T 예제들

예제 #1

파일: simusmall.py 프로젝트: trigrass2/etc

plug(zero.signal('out'), dyn.signal('acceleration'))
plug(flex.signal('waistWorldPoseRPY'), dyn.signal('ffposition'))

# ----------------------------------------------------
# --- TASKS ------------------------------------------
# ----------------------------------------------------

# -- TASK Manip
dyn.createOpPoint('0', 'right-wrist')
dyn.createOpPoint('rleg', 'right-ankle')
dyn.createOpPoint('lleg', 'left-ankle')

p6 = FeaturePoint6d('p6')
p6d = FeaturePoint6d('p6d')

comp = Compose_R_and_T('comp')
eye3 = MatrixConstant('eye3')
I3 = ((1., 0., 0.), (0., 1., 0.), (0., 0., 1.))

eye3.set(I3)
plug(eye3.signal('out'), comp.signal('in1'))

t = VectorConstant('t')
# WAIST
t.set((0., 0.095, 0.563816))

# HAND
t.set((0.25, -0.5, .85))
plug(t.signal('out'), comp.signal('in2'))

plug(comp.signal('out'), p6d.signal('position'))

예제 #2

파일: sot-gaze-tests.py 프로젝트: sovannara-hak/sot-gaze

plug(zero.signal('out'), dyn.signal('acceleration'))
plug(flex.signal('waistWorldPoseRPY'), dyn.signal('ffposition'))

# ----------------------------------------------------
# --- TASKS ------------------------------------------
# ----------------------------------------------------

# -- TASK Manip
dyn.createOpPoint('0', 'right-wrist')
dyn.createOpPoint('rleg', 'right-ankle')
dyn.createOpPoint('lleg', 'left-ankle')

p6 = FeaturePoint6d('p6')
p6d = FeaturePoint6d('p6d')

comp = Compose_R_and_T('comp')
eye3 = MatrixConstant('eye3')
I3 = ((1., 0., 0.),
      (0., 1., 0.),
      (0., 0., 1.))

comp.displaySignals()
eye3.set(I3)
plug(eye3.signal('out'), comp.signal('sin1'))

t = VectorConstant('t')
# WAIST
t.set((0., 0.095, 0.563816))

# HAND
t.set((0.25, -0.5, .85))

예제 #3

파일: simusmall.py 프로젝트: fkanehiro/etc

plug(zero.signal('out'), dyn.signal('acceleration'))
plug(flex.signal('waistWorldPoseRPY'), dyn.signal('ffposition'))

# ----------------------------------------------------
# --- TASKS ------------------------------------------
# ----------------------------------------------------

# -- TASK Manip
dyn.createOpPoint('0', 'right-wrist')
dyn.createOpPoint('rleg', 'right-ankle')
dyn.createOpPoint('lleg', 'left-ankle')

p6 = FeaturePoint6d('p6')
p6d = FeaturePoint6d('p6d')

comp = Compose_R_and_T('comp')
eye3 = MatrixConstant('eye3')
I3 = ((1., 0., 0.),
      (0., 1., 0.),
      (0., 0., 1.))

eye3.set(I3)
plug(eye3.signal('out'), comp.signal('in1'))

t = VectorConstant('t')
# WAIST
t.set((0., 0.095, 0.563816))

# HAND
t.set((0.25, -0.5, .85))
plug(t.signal('out'), comp.signal('in2'))