def initGeneralApplication(self): from dynamic_graph.sot.application.velocity.precomputed_meta_tasks import initialize self.solver = initialize(self.robot)
robot.dynamic.acceleration.value = robot.dimension * (0., ) robot.dynamic.ffposition.unplug() robot.dynamic.ffvelocity.unplug() robot.dynamic.ffacceleration.unplug() robot.dynamic.setProperty('ComputeBackwardDynamics', 'true') robot.dynamic.setProperty('ComputeAccelerationCoM', 'true') robot.device.control.unplug() # ------------------------------------------------------------------------------ # --- SOLVER ---------------------------------------------------------------- # ------------------------------------------------------------------------------ solver = initialize(robot) # ------------------------------------------------------------------------------ # --- MAIN LOOP ---------------------------------------------------------------- # ------------------------------------------------------------------------------ def inc(): robot.device.increment(robot.timeStep) attime.run(robot.device.control.time) updateComDisplay(robot.device, robot.dynamic.com) if state >= 3 and state <= 21: updateToolDisplay(robot.mTasks['screw'], linalg.inv(TwoHandToolToScrewMatrix), robot.device) """
def initGeneralApplication(self): self.solver = initialize(self.robot)