class Solver:
robot = None
sot = None
def __init__(self, robot):
self.robot = robot
self.sot = SOT('solver')
self.sot.signal('damping').value = 1e-6
self.sot.setNumberDofs(self.robot.dimension)
if robot.simu:
plug(self.sot.signal('control'), robot.simu.signal('control'))
plug(self.robot.simu.state,
self.robot.dynamic.position)
class Solver:
def __init__(self, robot):
self.robot = robot
# Make sure control does not exceed joint limits.
self.jointLimitator = JointLimitator('joint_limitator')
plug(self.robot.dynamic.position, self.jointLimitator.joint)
plug(self.robot.dynamic.upperJl, self.jointLimitator.upperJl)
plug(self.robot.dynamic.lowerJl, self.jointLimitator.lowerJl)
# Create the solver.
self.sot = SOT('solver')
self.sot.signal('damping').value = 1e-6
self.sot.setSize(self.robot.dimension)
# Plug the solver control into the filter.
plug(self.sot.control, self.jointLimitator.controlIN)
# Important: always use 'jointLimitator.control'
# and NOT 'sot.control'!
if robot.device:
plug(self.jointLimitator.control, robot.device.control)
def push (self, task):
"""
Proxy method to push a task in the sot
"""
self.sot.push (task.name)
def remove (self, task):
"""
Proxy method to remove a task from the sot
"""
self.sot.remove (task.name)
def __str__ (self):
return self.sot.display ()
