Commit 9ca92bcc authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

temporary fix to map operational points to joint names.

parent 9128bffb
......@@ -103,14 +103,15 @@ def createOperationalPointFeatureAndTask(robot,
featureName,
taskName,
ingain = .2):
jacobianName = 'J{0}'.format(operationalPointName)
robot.dynamic.signal(operationalPointName).recompute(0)
operationalPointMapped = robot.OperationalPointsMap[operationalPointName]
jacobianName = 'J{0}'.format(operationalPointMapped)
robot.dynamic.signal(operationalPointMapped).recompute(0)
robot.dynamic.signal(jacobianName).recompute(0)
feature = \
FeaturePosition(featureName,
robot.dynamic.signal(operationalPointName),
robot.dynamic.signal(operationalPointMapped),
robot.dynamic.signal(jacobianName),
robot.dynamic.signal(operationalPointName).value)
robot.dynamic.signal(operationalPointMapped).value)
task = Task(taskName)
task.add(featureName)
gain = GainAdaptive('gain'+taskName)
......
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