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Stack Of Tasks
talos_integration_tests
Commits
34160caf
Commit
34160caf
authored
Sep 02, 2020
by
Guilhem Saurel
Browse files
update for sot-talos-balance v2
parent
2caa0f0e
Changes
5
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Inline
Side-by-side
scripts/test_online_walking.py
View file @
34160caf
...
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@@ -4,7 +4,7 @@ import time
import
rospkg
import
rospy
from
sot_talos_balance.utils.run_test_utils
import
runCommandClient
from
dynamic_graph.
sot_talos_balance.utils.run_test_utils
import
runCommandClient
from
std_srvs.srv
import
Empty
...
...
scripts/test_sot_talos_balance.py
View file @
34160caf
...
...
@@ -4,7 +4,7 @@ import time
from
os.path
import
abspath
,
dirname
,
join
import
rospy
from
sot_talos_balance.utils.run_test_utils
import
runCommandClient
from
dynamic_graph.
sot_talos_balance.utils.run_test_utils
import
runCommandClient
from
std_srvs.srv
import
Empty
...
...
src/talos_integration_tests/appli.py
View file @
34160caf
from
dynamic_graph.sot.core.matrix_util
import
matrixToTuple
from
dynamic_graph.sot.core.meta_tasks_kine
import
(
MetaTaskKine6d
,
MetaTaskKineCom
)
from
numpy
import
eye
from
dynamic_graph.sot.core.meta_tasks_kine
import
MetaTaskKine6d
,
MetaTaskKineCom
from
numpy
import
array
,
eye
def
init_appli
(
robot
):
taskRH
=
MetaTaskKine6d
(
'rh'
,
robot
.
dynamic
,
'rh'
,
robot
.
OperationalPointsMap
[
'right-wrist'
])
handMgrip
=
eye
(
4
)
handMgrip
[
0
:
3
,
3
]
=
(
0.1
,
0
,
0
)
taskRH
.
opmodif
=
matrixToTuple
(
handMgrip
)
taskRH
.
opmodif
=
array
(
handMgrip
)
taskRH
.
feature
.
frame
(
'desired'
)
# --- STATIC COM (if not walking)
taskCom
=
MetaTaskKineCom
(
robot
.
dynamic
)
...
...
@@ -37,6 +36,7 @@ def init_appli(robot):
from
dynamic_graph.ros
import
RosPublish
ros_publish_state
=
RosPublish
(
"ros_publish_state"
)
ros_publish_state
.
add
(
"vector"
,
"state"
,
"/sot_control/state"
)
ros_publish_state
.
add_signals
()
from
dynamic_graph
import
plug
plug
(
robot
.
device
.
state
,
ros_publish_state
.
state
)
robot
.
device
.
after
.
addDownsampledSignal
(
"ros_publish_state.trigger"
,
100
)
...
...
src/talos_integration_tests/appli_dcmZmpControl_file.py
View file @
34160caf
...
...
@@ -12,11 +12,11 @@ from dynamic_graph.sot.dynamic_pinocchio import DynamicPinocchio
from
dynamic_graph.tracer_real_time
import
TracerRealTime
from
rospkg
import
RosPack
import
sot_talos_balance.talos.base_estimator_conf
as
base_estimator_conf
import
sot_talos_balance.talos.control_manager_conf
as
cm_conf
import
sot_talos_balance.talos.ft_calibration_conf
as
ft_conf
import
sot_talos_balance.talos.parameter_server_conf
as
param_server_conf
from
sot_talos_balance.create_entities_utils
import
*
import
dynamic_graph.
sot_talos_balance.talos.base_estimator_conf
as
base_estimator_conf
import
dynamic_graph.
sot_talos_balance.talos.control_manager_conf
as
cm_conf
import
dynamic_graph.
sot_talos_balance.talos.ft_calibration_conf
as
ft_conf
import
dynamic_graph.
sot_talos_balance.talos.parameter_server_conf
as
param_server_conf
from
dynamic_graph.
sot_talos_balance.create_entities_utils
import
*
from
dynamic_graph
import
plug
...
...
src/talos_integration_tests/appli_online_walking.py
View file @
34160caf
...
...
@@ -13,11 +13,11 @@ from dynamic_graph.sot.dynamic_pinocchio import DynamicPinocchio
from
dynamic_graph.tracer_real_time
import
TracerRealTime
from
rospkg
import
RosPack
import
sot_talos_balance.talos.base_estimator_conf
as
base_estimator_conf
import
sot_talos_balance.talos.control_manager_conf
as
cm_conf
import
sot_talos_balance.talos.ft_calibration_conf
as
ft_conf
import
sot_talos_balance.talos.parameter_server_conf
as
param_server_conf
from
sot_talos_balance.create_entities_utils
import
*
import
dynamic_graph.
sot_talos_balance.talos.base_estimator_conf
as
base_estimator_conf
import
dynamic_graph.
sot_talos_balance.talos.control_manager_conf
as
cm_conf
import
dynamic_graph.
sot_talos_balance.talos.ft_calibration_conf
as
ft_conf
import
dynamic_graph.
sot_talos_balance.talos.parameter_server_conf
as
param_server_conf
from
dynamic_graph.
sot_talos_balance.create_entities_utils
import
*
from
dynamic_graph.sot.pattern_generator
import
PatternGenerator
...
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