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Guilhem Saurel
sot-hrp2
Commits
7e5de6da
Commit
7e5de6da
authored
Jul 26, 2013
by
Francois Keith
Browse files
Update hrp2_10 controller and prologue.
The solver has been moved into another location.
parent
715408f9
Changes
2
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src/dynamic_graph/sot/hrp2_10/prologue.py
View file @
7e5de6da
...
...
@@ -15,11 +15,12 @@
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
print
(
"Prologue HRP2-10"
)
from
dynamic_graph.entity
import
PyEntityFactoryClass
from
dynamic_graph.sot.hrp2_10.robot
import
Robot
# Create the device.
# This entity behaves exactly like robotsimu except:
# 1. it does not provide the increment
metho
d
# 1. it does not provide the increment
comman
d
# 2. it forwards the robot control to the sot-abstract
# controller.
Device
=
PyEntityFactoryClass
(
'Device'
)
...
...
@@ -27,6 +28,7 @@ Device = PyEntityFactoryClass('Device')
# Create the robot using the device.
robot
=
Robot
(
name
=
'robot'
,
device
=
Device
(
'HRP2JRL'
))
robot
.
dynamic
.
com
.
recompute
(
0
)
_com
=
robot
.
dynamic
.
com
.
value
robot
.
device
.
zmp
.
value
=
(
_com
[
0
],
_com
[
1
],
0.
)
...
...
src/sot-hrp2-10-controller.cpp
View file @
7e5de6da
...
...
@@ -37,7 +37,7 @@ void SoTHRP2_10_Controller::startupPython()
std
::
ofstream
aof
(
LOG_PYTHON_10
.
c_str
());
runPython
(
aof
,
"from dynamic_graph.sot.hrp2_10.prologue import robot
, solver
"
,
"from dynamic_graph.sot.hrp2_10.prologue import robot"
,
*
interpreter_
);
aof
.
close
();
}
...
...
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