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loco-3d
sot-talos-balance
Commits
a26a533d
Commit
a26a533d
authored
Jun 24, 2020
by
Olivier Stasse
Browse files
Adapt to parameter-server modification.
parent
5e56700b
Changes
2
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Inline
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src/sot_talos_balance/create_entities_utils.py
View file @
a26a533d
...
...
@@ -536,9 +536,7 @@ def create_dcm_com_controller(Kp, Ki, dt, robot, dcmSignal):
return
controller
def
create_parameter_server
(
conf
,
dt
,
robot_name
=
'robot'
):
param_server
=
ParameterServer
(
"param_server"
)
def
fill_parameter_server
(
param_server
,
conf
,
dt
,
robot_name
=
'robot'
):
# Init should be called before addCtrlMode
# because the size of state vector must be known.
param_server
.
init
(
dt
,
conf
.
urdfFileName
,
robot_name
)
...
...
@@ -575,6 +573,9 @@ def create_parameter_server(conf, dt, robot_name='robot'):
return
param_server
def
create_parameter_server
(
conf
,
dt
,
robot_name
=
'robot'
):
param_server
=
ParameterServer
(
"param_server"
)
fill_parameter_server
(
param_server
,
conf
,
dt
,
robot_name
)
def
create_example
(
robot_name
=
'robot'
,
firstAdd
=
0.
,
secondAdd
=
0.
):
example
=
Example
(
'example'
)
...
...
@@ -696,4 +697,3 @@ def reload_folder(robot, folder, zmp=False):
set_trigger
(
robot
,
False
)
load_folder
(
robot
,
folder
,
zmp
)
set_trigger
(
robot
,
True
)
src/sot_talos_balance/test/appli_dcmZmpControl_file.py
View file @
a26a533d
...
...
@@ -31,7 +31,7 @@ g = 9.81
omega
=
sqrt
(
g
/
h
)
# --- Parameter server
robot
.
param_server
=
create_
param
eter
_server
(
param_server_conf
,
dt
)
fill_
param
eter
_server
(
robot
.
param_server
,
param_server_conf
,
dt
)
# --- Initial feet and waist
robot
.
dynamic
.
createOpPoint
(
'LF'
,
robot
.
OperationalPointsMap
[
'left-ankle'
])
...
...
Olivier Stasse
@ostasse
mentioned in commit
842836f0
·
Jul 24, 2020
mentioned in commit
842836f0
mentioned in commit 842836f0cf708be5bb7ff9f2b816b643641446ea
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