Unverified Commit 18978f2e authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
Browse files

Merge pull request #23 from jmirabel/topic/python3

Fix usage of Flags.
parents ab4b5b9c 8e3cf985
...@@ -294,7 +294,7 @@ def init_sot_talos_balance(robot, test_folder): ...@@ -294,7 +294,7 @@ def init_sot_talos_balance(robot, test_folder):
robot.taskComH = MetaTaskKineCom(robot.dynamic, name='comH') robot.taskComH = MetaTaskKineCom(robot.dynamic, name='comH')
plug(robot.wp.comDes, robot.taskComH.featureDes.errorIN) plug(robot.wp.comDes, robot.taskComH.featureDes.errorIN)
robot.taskComH.task.controlGain.value = 100. robot.taskComH.task.controlGain.value = 100.
robot.taskComH.feature.selec.value = Flags('100') robot.taskComH.feature.selec.value = Flags('001')
# --- COM # --- COM
robot.taskCom = MetaTaskKineCom(robot.dynamic) robot.taskCom = MetaTaskKineCom(robot.dynamic)
...@@ -302,14 +302,14 @@ def init_sot_talos_balance(robot, test_folder): ...@@ -302,14 +302,14 @@ def init_sot_talos_balance(robot, test_folder):
plug(robot.com_admittance_control.dcomRef, robot.taskCom.featureDes.errordotIN) plug(robot.com_admittance_control.dcomRef, robot.taskCom.featureDes.errordotIN)
robot.taskCom.task.controlGain.value = 0 robot.taskCom.task.controlGain.value = 0
robot.taskCom.task.setWithDerivative(True) robot.taskCom.task.setWithDerivative(True)
robot.taskCom.feature.selec.value = Flags('011') robot.taskCom.feature.selec.value = Flags('110')
# --- Waist # --- Waist
robot.keepWaist = MetaTaskKine6d('keepWaist', robot.dynamic, 'WT', robot.OperationalPointsMap['waist']) robot.keepWaist = MetaTaskKine6d('keepWaist', robot.dynamic, 'WT', robot.OperationalPointsMap['waist'])
robot.keepWaist.feature.frame('desired') robot.keepWaist.feature.frame('desired')
robot.keepWaist.gain.setConstant(300) robot.keepWaist.gain.setConstant(300)
plug(robot.wp.waistDes, robot.keepWaist.featureDes.position) plug(robot.wp.waistDes, robot.keepWaist.featureDes.position)
robot.keepWaist.feature.selec.value = Flags('111000') robot.keepWaist.feature.selec.value = Flags('000111')
locals()['keepWaist'] = robot.keepWaist locals()['keepWaist'] = robot.keepWaist
# --- SOT solver # --- SOT solver
......
...@@ -293,7 +293,7 @@ def init_online_walking(robot): ...@@ -293,7 +293,7 @@ def init_online_walking(robot):
robot.taskComH = MetaTaskKineCom(robot.dynamic, name='comH') robot.taskComH = MetaTaskKineCom(robot.dynamic, name='comH')
plug(robot.wp.comDes, robot.taskComH.featureDes.errorIN) plug(robot.wp.comDes, robot.taskComH.featureDes.errorIN)
robot.taskComH.task.controlGain.value = 100. robot.taskComH.task.controlGain.value = 100.
robot.taskComH.feature.selec.value = Flags('100') robot.taskComH.feature.selec.value = Flags('001')
# --- COM # --- COM
robot.taskCom = MetaTaskKineCom(robot.dynamic) robot.taskCom = MetaTaskKineCom(robot.dynamic)
...@@ -301,7 +301,7 @@ def init_online_walking(robot): ...@@ -301,7 +301,7 @@ def init_online_walking(robot):
plug(robot.com_admittance_control.dcomRef, robot.taskCom.featureDes.errordotIN) plug(robot.com_admittance_control.dcomRef, robot.taskCom.featureDes.errordotIN)
robot.taskCom.task.controlGain.value = 0 robot.taskCom.task.controlGain.value = 0
robot.taskCom.task.setWithDerivative(True) robot.taskCom.task.setWithDerivative(True)
robot.taskCom.feature.selec.value = Flags('011') robot.taskCom.feature.selec.value = Flags('110')
# --- Waist # --- Waist
...@@ -309,7 +309,7 @@ def init_online_walking(robot): ...@@ -309,7 +309,7 @@ def init_online_walking(robot):
robot.keepWaist.feature.frame('desired') robot.keepWaist.feature.frame('desired')
robot.keepWaist.gain.setConstant(300) robot.keepWaist.gain.setConstant(300)
plug(robot.wp.waistDes, robot.keepWaist.featureDes.position) #de base plug(robot.wp.waistDes, robot.keepWaist.featureDes.position) #de base
robot.keepWaist.feature.selec.value = Flags('111000') robot.keepWaist.feature.selec.value = Flags('000111')
locals()['keepWaist'] = robot.keepWaist locals()['keepWaist'] = robot.keepWaist
# --- SOT solver # --- SOT solver
......
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