taskJL.referenceInf.value = robot.dynamic.lowerJl.value
taskJL.referenceSup.value = robot.dynamic.upperJl.value
taskJL.dt.value = dt
taskJL.selec.value = toFlags(range(6,22)+range(22,28)+range(29,35))
# --- CONTACTS
# define contactLF and contactRF
for name,joint in [ ['LF','left-ankle'], ['RF','right-ankle' ] ]:
contact = MetaTaskKine6d('contact'+name,robot.dynamic,name,joint)
contact.feature.frame('desired')
contact.gain.setConstant(10)
locals()['contact'+name] = contact
# --- TRACER -----------------------------------------------------------------
tr = Tracer('tr')
tr.open('/tmp/','','.dat')
tr.start()
robot.device.after.addSignal('tr.triger')
# tr.add('dyn2.com','com')
history = History(robot.dynamic,1)
# --- SHORTCUTS ----------------------------------------------------------------
qn = taskJL.normalizedPosition
@optionalparentheses
def pqn(details=True):
''' Display the normalized configuration vector. '''
qn.recompute(robot.state.time)
s = [ "{0:.1f}".format(v) for v in qn.value]
taskJL.referenceSup.value = dyn.upperJl.value
taskJL.dt.value = dt
taskJL.selec.value = toFlags(range(6,22)+range(22,28)+range(29,35))
# --- CONTACTS
# define contactLF and contactRF
for name,joint in [ ['LF','left-ankle'], ['RF','right-ankle' ] ]:
contact = MetaTaskKine6d('contact'+name,dyn,name,joint)
contact.feature.frame('desired')
contact.gain.setConstant(10)
locals()['contact'+name] = contact
# --- TRACER -----------------------------------------------------------------
from dynamic_graph.tracer import Tracer
tr = Tracer('tr')
tr.open('/tmp/','','.dat')
tr.start()
robot.after.addSignal('tr.triger')
tr.add('dyn.com','com')
history = History(dyn,1)
# --- SHORTCUTS ----------------------------------------------------------------
qn = taskJL.normalizedPosition
@optionalparentheses
def pqn(details=True):
''' Display the normalized configuration vector. '''
qn.recompute(robot.state.time)
s = [ "{0:.1f}".format(v) for v in qn.value]
device.kd.value = nj * (2 * pow(device.kp.value[0], 0.5), )
# Create an instance to send a sinusoid
control = TestSinusoidControl('control')
control.setAmplitude(0.5)
control.setFrequency(0.1)
control.setJointID(3)
control.dt.value = dt
# Plug device and control
plug(device.state, control.positionMeas)
plug(control.positionDes, device.control)
# Increment the device
device.increment(dt)
# Start the control
control.start()
tr = Tracer('tr')
tr.open('/tmp/', 'dyn_', '.dat')
tr.add('control.positionDes', '')
tr.start()
device.after.addSignal('tr.triger')
for i in range(1000):
device.increment(dt)
print("finished ...")
taskJL.referenceInf.value = robot.dynamic.lowerJl.value
taskJL.referenceSup.value = robot.dynamic.upperJl.value
taskJL.dt.value = dt
taskJL.selec.value = toFlags(range(6,22)+range(22,28)+range(29,35))
# --- CONTACTS
# define contactLF and contactRF
for name,joint in [ ['LF','left-ankle'], ['RF','right-ankle' ] ]:
contact = MetaTaskKine6d('contact'+name,robot.dynamic,name,joint)
contact.feature.frame('desired')
contact.gain.setConstant(10)
locals()['contact'+name] = contact
# --- TRACER -----------------------------------------------------------------
tr = Tracer('tr')
tr.open('/tmp/','','.dat')
tr.start()
robot.device.after.addSignal('tr.triger')
# tr.add('dyn2.com','com')
history = History(robot.dynamic,1)
# --- SHORTCUTS ----------------------------------------------------------------
qn = taskJL.normalizedPosition
@optionalparentheses
def pqn(details=True):
''' Display the normalized configuration vector. '''
qn.recompute(robot.state.time)
s = [ "{0:.1f}".format(v) for v in qn.value]
