Commit e19cb87a authored by Thomas Moulard's avatar Thomas Moulard
Browse files

Fix examples.

parent 7390cd73
...@@ -24,8 +24,7 @@ from dynamic_graph.sot.dynamics.hrp2 import Hrp2 ...@@ -24,8 +24,7 @@ from dynamic_graph.sot.dynamics.hrp2 import Hrp2
from dynamic_graph import enableTrace, plug from dynamic_graph import enableTrace, plug
from tools import * from dynamic_graph.sot.dynamics.tools import *
class HalfStep: class HalfStep:
startX = 0. startX = 0.
......
...@@ -15,7 +15,7 @@ ...@@ -15,7 +15,7 @@
# received a copy of the GNU Lesser General Public License along with # received a copy of the GNU Lesser General Public License along with
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>. # dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
from tools import * from dynamic_graph.sot.dynamics.tools import *
from dynamic_graph.sot.dynamics.feet_follower import FeetFollowerFromFile from dynamic_graph.sot.dynamics.feet_follower import FeetFollowerFromFile
feetFollower = FeetFollowerFromFile('feet-follower') feetFollower = FeetFollowerFromFile('feet-follower')
......
...@@ -21,8 +21,7 @@ from dynamic_graph.sot.dynamics.hrp2 import Hrp2 ...@@ -21,8 +21,7 @@ from dynamic_graph.sot.dynamics.hrp2 import Hrp2
from dynamic_graph import enableTrace, plug from dynamic_graph import enableTrace, plug
from tools import * from dynamic_graph.sot.dynamics.tools import *
class QuasiStaticWalking: class QuasiStaticWalking:
leftFoot = 0 leftFoot = 0
...@@ -155,13 +154,12 @@ class QuasiStaticWalking: ...@@ -155,13 +154,12 @@ class QuasiStaticWalking:
# Push tasks # Push tasks
# Feet tasks. # Feet tasks.
solver.sot.push(robot.name + '.task.right-ankle') solver.sot.push(robot.tasks['right-ankle'].name)
solver.sot.push(robot.name + '.task.left-ankle') solver.sot.push(robot.tasks['left-ankle'].name)
# Center of mass # Center of mass
# FIXME: trigger segv at exit. # FIXME: trigger segv at exit.
solver.sot.push(robot.name + '.task.com') solver.sot.push(robot.comTask.name)
# Main. # Main.
......
...@@ -16,7 +16,7 @@ ...@@ -16,7 +16,7 @@
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>. # dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
import sys import sys
from tools import * from dynamic_graph.sot.dynamics.tools import *
# Move left wrist # Move left wrist
reach(robot, 'left-wrist', 0.25, 0.25, 0.5) reach(robot, 'left-wrist', 0.25, 0.25, 0.5)
...@@ -24,13 +24,13 @@ reach(robot, 'right-wrist', 0.25, -0.25, 0.5) ...@@ -24,13 +24,13 @@ reach(robot, 'right-wrist', 0.25, -0.25, 0.5)
# Push tasks # Push tasks
# Operational points tasks # Operational points tasks
solver.sot.push(robot.name + '.task.right-ankle') solver.sot.push(robot.tasks['right-ankle'].name)
solver.sot.push(robot.name + '.task.left-ankle') solver.sot.push(robot.tasks['left-ankle'].name)
solver.sot.push(robot.name + '.task.left-wrist') solver.sot.push(robot.tasks['right-wrist'].name)
solver.sot.push(robot.name + '.task.right-wrist') solver.sot.push(robot.tasks['left-wrist'].name)
# Center of mass # Center of mass
solver.sot.push(robot.name + '.task.com') solver.sot.push(robot.comTask.name)
# Main. # Main.
# Main loop # Main loop
......
...@@ -16,20 +16,20 @@ ...@@ -16,20 +16,20 @@
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>. # dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
import sys import sys
from tools import * from dynamic_graph.sot.dynamics.tools import *
# Move left wrist # Move left wrist
reach(robot, 'left-wrist', 0.25, 0, 0.1) reach(robot, 'left-wrist', 0.25, 0, 0.1)
# Push tasks # Push tasks
# Operational points tasks # Operational points tasks
solver.sot.push(robot.name + '.task.right-ankle') solver.sot.push(robot.tasks['right-ankle'].name)
solver.sot.push(robot.name + '.task.left-ankle') solver.sot.push(robot.tasks['left-ankle'].name)
solver.sot.push(robot.name + '.task.left-wrist') solver.sot.push(robot.tasks['right-wrist'].name)
solver.sot.push(robot.name + '.task.right-wrist') solver.sot.push(robot.tasks['left-wrist'].name)
# Center of mass # Center of mass
solver.sot.push(robot.name + '.task.com') solver.sot.push(robot.comTask.name)
# Main. # Main.
# Main loop # Main loop
......
...@@ -15,20 +15,20 @@ ...@@ -15,20 +15,20 @@
# received a copy of the GNU Lesser General Public License along with # received a copy of the GNU Lesser General Public License along with
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>. # dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
from tools import * from dynamic_graph.sot.dynamics.tools import *
# Move right wrist # Move right wrist
reach(robot, 'right-wrist', 0.25, 0, 0.1) reach(robot, 'right-wrist', 0.25, 0, 0.1)
# Push tasks # Push tasks
# Operational points tasks # Operational points tasks
solver.sot.push(robot.name + '.task.right-ankle') solver.sot.push(robot.tasks['right-ankle'].name)
solver.sot.push(robot.name + '.task.left-ankle') solver.sot.push(robot.tasks['left-ankle'].name)
solver.sot.push(robot.name + '.task.left-wrist') solver.sot.push(robot.tasks['right-wrist'].name)
solver.sot.push(robot.name + '.task.right-wrist') solver.sot.push(robot.tasks['left-wrist'].name)
# Center of mass # Center of mass
solver.sot.push(robot.name + '.task.com') solver.sot.push(robot.comTask.name)
# Main. # Main.
# Main loop # Main loop
......
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