Commit 9d58f966 authored by Rohan Budhiraja's avatar Rohan Budhiraja Committed by GitHub
Browse files

Merge pull request #3 from proyan/master

[python][metaTaskVelocity] Correctly use reference to the robot operational point map
parents 1b93ba7e 76be2357
......@@ -113,18 +113,24 @@ def createTasks(robot):
robot.tasksIne = dict()
# Foot contacts
robot.contactLF = MetaTaskKine6d('contactLF',robot.dynamic,'LF','left-ankle')
robot.contactLF = MetaTaskKine6d('contactLF',robot.dynamic,'LF',
robot.OperationalPointsMap['left-ankle'])
robot.contactLF.feature.frame('desired')
robot.contactLF.gain.setConstant(10)
robot.contactRF = MetaTaskKine6d('contactRF',robot.dynamic,'RF','right-ankle')
robot.contactRF = MetaTaskKine6d('contactRF',robot.dynamic,'RF',
robot.OperationalPointsMap['right-ankle'])
robot.contactRF.feature.frame('desired')
robot.contactRF.gain.setConstant(10)
# MetaTasksKine6d for other operational points
robot.mTasks['waist'] = MetaTaskKine6d('waist', robot.dynamic, 'waist', 'waist')
robot.mTasks['chest'] = MetaTaskKine6d('chest', robot.dynamic, 'chest', 'chest')
robot.mTasks['rh'] = MetaTaskKine6d('rh', robot.dynamic, 'rh', 'right-wrist')
robot.mTasks['lh'] = MetaTaskKine6d('lh', robot.dynamic, 'lh', 'left-wrist')
robot.mTasks['waist'] = MetaTaskKine6d('waist', robot.dynamic, 'waist',
robot.OperationalPointsMap['waist'])
robot.mTasks['chest'] = MetaTaskKine6d('chest', robot.dynamic, 'chest',
robot.OperationalPointsMap['chest'])
robot.mTasks['rh'] = MetaTaskKine6d('rh', robot.dynamic, 'rh',
robot.OperationalPointsMap['right-wrist'])
robot.mTasks['lh'] = MetaTaskKine6d('lh', robot.dynamic, 'lh',
robot.OperationalPointsMap['left-wrist'])
for taskName in robot.mTasks:
robot.mTasks[taskName].feature.frame('desired')
......
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