Remove deprecated python scripts.

They have been moved in sot-dynamic/sot-pattern-generator.

python/unittests/walkromeo.py

-# ______________________________________________________________________________
-# ******************************************************************************
-# A simple Herdt walking pattern generator for Romeo.
-# ______________________________________________________________________________
-# ******************************************************************************
-
-from dynamic_graph import plug
-from dynamic_graph.sot.core import *
-from dynamic_graph.sot.dynamics import *
-from dynamic_graph.sot.core.matrix_util import matrixToTuple, vectorToTuple,rotate, matrixToRPY
-from dynamic_graph.sot.core.meta_tasks_kine import *
-from dynamic_graph.sot.core.utils.viewer_helper import addRobotViewer,VisualPinger,updateComDisplay
-from dynamic_graph.sot.core.utils.thread_interruptible_loop import loopInThread,loopShortcuts
-from dynamic_graph.sot.dyninv import SolverKine
-
-from dynamic_graph.sot.dyninv.robot_specific import pkgDataRootDir,modelName,robotDimension,initialConfig,gearRatio,inertiaRotor,specificitiesName,jointRankName
-
-from numpy import *
-def totuple( a ):
-    al=a.tolist()
-    res=[]
-    for i in range(a.shape[0]):
-        res.append( tuple(al[i]) )
-    return tuple(res)
-
-
-# --- ROBOT SIMU ---------------------------------------------------------------
-robotName = 'romeo'
-robotDim=robotDimension[robotName]
-robot = RobotSimu("romeo")
-robot.resize(robotDim)
-dt=5e-3
-
-robot.set( initialConfig[robotName] )
-addRobotViewer(robot,small=True,small_extra=24,verbose=False)
-
-#-------------------------------------------------------------------------------
-#----- MAIN LOOP ---------------------------------------------------------------
-#-------------------------------------------------------------------------------
-@loopInThread
-def inc():
-    robot.increment(dt)
-    updateComDisplay(robot,dyn.com)
-
-runner=inc()
-[go,stop,next,n]=loopShortcuts(runner)
-
-#---- DYN --------------------------------------------------------------------
-modelDir  = pkgDataRootDir[robotName]
-xmlDir    = pkgDataRootDir[robotName]
-specificitiesPath = xmlDir + '/' + specificitiesName[robotName]
-jointRankPath     = xmlDir + '/' + jointRankName[robotName]
-
-dyn = Dynamic("dyn")
-dyn.setFiles(modelDir, modelName[robotName],specificitiesPath,jointRankPath)
-dyn.parse()
-
-dyn.inertiaRotor.value = inertiaRotor[robotName]
-dyn.gearRatio.value    = gearRatio[robotName]
-
-plug(robot.state,dyn.position)
-dyn.velocity.value = robotDim*(0.,)
-dyn.acceleration.value = robotDim*(0.,)
-
-# --- PG ---------------------------------------------------------
-from dynamic_graph.sot.pattern_generator.meta_pg import MetaPG
-pg = MetaPG(dyn)
-pg.plugZmp(robot)
-
-# ---- SOT ---------------------------------------------------------------------
-# The basic SOT solver would work too.
-sot = SolverKine('sot')
-sot.setSize(robotDim)
-plug(sot.control,robot.control)
-
-# ---- TASKS -------------------------------------------------------------------
-# ---- WAIST TASK ---
-taskWaist=MetaTask6d('waist',dyn,'waist','waist')
-pg.plugWaistTask(taskWaist)
-taskWaist.task.controlGain.value = 5
-taskWaist.feature.selec.value = '011100'
-
-# --- TASK COM ---
-taskCom = MetaTaskKineCom(dyn,"compd")
-pg.plugComTask(taskCom)
-taskCom.feature.selec.value = '011'
-
-# --- TASK FEET
-taskRF=MetaTask6d('rf',dyn,'rf','right-ankle')
-plug(pg.pg.rightfootref,taskRF.featureDes.position)
-taskRF.task.controlGain.value = 40
-
-taskLF=MetaTask6d('lf',dyn,'lf','left-ankle')
-plug(pg.pg.leftfootref,taskLF.featureDes.position)
-taskLF.task.controlGain.value = 40
-
-
-# ---- WAIST TASK ORIENTATION ---
-#  set the orientation of the waist to be the same as the one of the foot.
-taskWaistOr=MetaTask6d('waistOr',dyn,'waist','waist')
-plug(pg.pg.rightfootref,taskWaistOr.featureDes.position)
-taskWaistOr.task.controlGain.value = 40
-taskWaistOr.feature.selec.value = '100000'
-
-
-taskHead=MetaTask6d('head',dyn,'gaze','gaze')
-plug(taskRF.featureDes.position, taskHead.featureDes.position)
-taskHead.feature.selec.value = '111000'
-taskHead.task.controlGain.value = 5
-
-# --- TASK POSTURE --------------------------------------------------
-# set a default position for the joints. 
-featurePosition = FeatureGeneric('featurePosition')
-featurePositionDes = FeatureGeneric('featurePositionDes')
-featurePosition.setReference('featurePositionDes')
-plug(dyn.position,featurePosition.errorIN)
-featurePositionDes.errorIN.value = initialConfig['romeo']
-featurePosition.jacobianIN.value = totuple( identity(robotDim) )
-
-taskPosition = Task('taskPosition')
-taskPosition.add('featurePosition')
-# featurePosition.selec.value = toFlags((6,24))
-
-gainPosition = GainAdaptive('gainPosition')
-gainPosition.set(0.1,0.1,125e3)
-gainPosition.gain.value = 5
-plug(taskPosition.error,gainPosition.error)
-plug(gainPosition.gain,taskPosition.controlGain)
-featurePosition.selec.value = '000000000000001111111111111100000000000'
-
-
-# --- RUN ----------------------------------------------------------------------
-# --- RUN ----------------------------------------------------------------------
-# --- RUN ----------------------------------------------------------------------
-sot.push(taskWaist.task.name)
-sot.push(taskRF.task.name)
-sot.push(taskLF.task.name)
-sot.push(taskCom.task.name)
-sot.push(taskWaistOr.task.name)
-
-# Stun the upper part of the body.
-sot.push(taskHead.task.name)		# constraint the head orientation: look straight ahead
-sot.push('taskPosition')			# stun the arms.
-
-
-
-# --- HERDT PG AND START -------------------------------------------------------
-# Set the algorithm generating the ZMP reference trajectory to Herdt's one.
-pg.startHerdt(False)
-# You can now modifiy the speed of the robot using set pg.pg.velocitydes [3]( x, y, yaw)
-pg.pg.velocitydes.value =(0.1,0.0,0.0)
-
-go()
-
-