Commit 1a9426b7 authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[appli_kinematics] Update

parent e9e4de7f
......@@ -35,30 +35,46 @@ robot.contactRF.featureDes.velocity.value = [0.]*6
locals()['contactRF'] = robot.contactRF
robot.taskRH = MetaTaskKine6d('taskRH', robot.dynamic, 'RH', 'arm_right_7_joint')
handMgrip = np.eye(4)
handMgrip[0:3, 3] = (0.1, 0, 0)
robot.taskRH.opmodif = matrixToTuple(handMgrip)
robot.taskRH.feature.frame('desired')
robot.taskRH.feature.selec.value = '111111'
robot.taskRH.gain.setConstant(0)
robot.taskRH.keep()
robot.taskRH.task.setWithDerivative(True)
robot.taskRH.task.controlGain.value = 0
robot.taskRH.feature.position.value = np.eye(4)
robot.taskRH.feature.velocity.value = [0., 0., 0., 0., 0., 0.]
robot.taskRH.featureDes.position.value = np.eye(4)
robot.taskRH.featureDes.velocity.value = [0., 0., 0., 0., 0., 0.]
robot.taskRH.featureDes.velocity.value = [0.]*6
locals()['taskRH'] = robot.taskRH
robot.taskLH = MetaTaskKine6d('taskLH', robot.dynamic, 'LH', 'arm_left_7_joint')
handMgrip = np.eye(4)
handMgrip[0:3, 3] = (0.1, 0, 0)
robot.taskLH.opmodif = matrixToTuple(handMgrip)
robot.taskLH.feature.frame('desired')
robot.taskLH.feature.selec.value = '111111'
robot.taskLH.gain.setConstant(0)
robot.taskLH.keep()
robot.taskLH.task.setWithDerivative(True)
robot.taskLH.task.controlGain.value = 0
robot.taskLH.feature.position.value = np.eye(4)
robot.taskLH.feature.velocity.value = [0., 0., 0., 0., 0., 0.]
robot.taskLH.featureDes.position.value = np.eye(4)
robot.taskLH.featureDes.velocity.value = [0., 0., 0., 0., 0., 0.]
robot.taskLH.featureDes.velocity.value = [0.]*6
locals()['taskLH'] = robot.taskLH
#robot.taskRH = MetaTaskKine6d('taskRH', robot.dynamic, 'RH', 'arm_right_7_joint')
#handMgrip = np.eye(4)
#handMgrip[0:3, 3] = (0.1, 0, 0)
#robot.taskRH.opmodif = matrixToTuple(handMgrip)
#robot.taskRH.feature.frame('desired')
#robot.taskRH.feature.selec.value = '111111'
#robot.taskRH.task.setWithDerivative(True)
#robot.taskRH.task.controlGain.value = 0
#robot.taskRH.feature.position.value = np.eye(4)
#robot.taskRH.feature.velocity.value = [0., 0., 0., 0., 0., 0.]
#robot.taskRH.featureDes.position.value = np.eye(4)
#robot.taskRH.featureDes.velocity.value = [0., 0., 0., 0., 0., 0.]
#robot.taskLH = MetaTaskKine6d('taskLH', robot.dynamic, 'LH', 'arm_left_7_joint')
#handMgrip = np.eye(4)
#handMgrip[0:3, 3] = (0.1, 0, 0)
#robot.taskLH.opmodif = matrixToTuple(handMgrip)
#robot.taskLH.feature.frame('desired')
#robot.taskLH.feature.selec.value = '111111'
#robot.taskLH.task.setWithDerivative(True)
#robot.taskLH.task.controlGain.value = 0
#robot.taskLH.feature.position.value = np.eye(4)
#robot.taskLH.feature.velocity.value = [0., 0., 0., 0., 0., 0.]
#robot.taskLH.featureDes.position.value = np.eye(4)
#robot.taskLH.featureDes.velocity.value = [0., 0., 0., 0., 0., 0.]
robot.sot = SOT('sot')
robot.sot.setSize(robot.dynamic.getDimension())
......
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