From 439ad4c4c3ddd525f69a80edb371829da45dfdc5 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 19 Jan 2011 22:04:46 +0100
Subject: [PATCH] Make python scripts more compact,
- by calling signals through Entity instance members instead of by
signal('name'),
- by replacing dynamicRobot member by dynamic,
- by replacing simu flag by simulation,
- by replacing robotSimu member by simu
- by defining members for each operational point:
AbstractHumanoidRobot.features['right-wrist'] can be accessed by
AbstractHumanoidRobot.rightWrist for instance.
---
src/dynamic_graph/sot/dynamics/hrp2.py.in | 12 +--
.../sot/dynamics/humanoid_robot.py | 82 ++++++++++---------
2 files changed, 50 insertions(+), 44 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
index 63b1c31..784d9c4 100755
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py.in
@@ -62,20 +62,20 @@ class Hrp2(AbstractHumanoidRobot):
return res
def __init__(self, name,
- simu,
+ simulation,
modelDir = hrp2_14_pkgdatarootdir,
xmlDir = hrp2_14_pkgdatarootdir):
- AbstractHumanoidRobot.__init__ (self, name, simu)
+ AbstractHumanoidRobot.__init__ (self, name, simulation)
modelName = 'HRP2JRLmainsmall.wrl'
specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
- self.dynamicRobot = DynamicHrp2(self.name + '.dynamics')
- self.dynamicRobot.setFiles(modelDir, modelName,
+ self.dynamic = DynamicHrp2(self.name + '.dynamics')
+ self.dynamic.setFiles(modelDir, modelName,
specificitiesPath, jointRankPath)
- self.dynamicRobot.parse()
- self.dimension = self.dynamicRobot.getDimension()
+ self.dynamic.parse()
+ self.dimension = self.dynamic.getDimension()
if self.dimension != len(self.halfSitting):
raise "invalid half-sitting pose"
self.initializeRobot()
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index eb03da5..84e4512 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -59,7 +59,7 @@ class AbstractHumanoidRobot (object):
"""Entity name (internal use)"""
#FIXME: it should be some kind of global flag instead.
- simu = False
+ simulation = False
"""Are we in simulation or not?"""
halfSitting = None
@@ -68,7 +68,7 @@ class AbstractHumanoidRobot (object):
This attribute *must* be defined in subclasses.
"""
- dynamicRobot = None
+ dynamic = None
"""
The robot dynamic model.
"""
@@ -152,66 +152,72 @@ class AbstractHumanoidRobot (object):
- the center of mass task used to keep the robot stability
- one task per operational point to ease robot control
"""
- if not self.dynamicRobot:
+ if not self.dynamic:
raise "robots models have to be initialized first"
- if self.simu:
- self.robotSimu = RobotSimu(self.name + '.robotSimu')
+ if self.simulation:
+ self.simu = RobotSimu(self.name + '.simu')
# Freeflyer reference frame should be the same as global
# frame so that operational point positions correspond to
# position in freeflyer frame.
- self.robotSimu.set(self.halfSitting)
+ self.simu.set(self.halfSitting)
- self.dynamicRobot.signal('position').value = self.halfSitting
- self.dynamicRobot.signal('velocity').value = self.dimension*(0.,)
- self.dynamicRobot.signal('acceleration').value = self.dimension*(0.,)
+ self.dynamic.position.value = self.halfSitting
+ self.dynamic.velocity.value = self.dimension*(0.,)
+ self.dynamic.acceleration.value = self.dimension*(0.,)
- self.initializeOpPoints(self.dynamicRobot,
+ self.initializeOpPoints(self.dynamic,
self.name + '.dynamics')
# --- center of mass ------------
self.featureCom = FeatureGeneric(self.name + '.feature.com')
- plug(self.dynamicRobot.signal('com'), self.featureCom.signal('errorIN'))
- plug(self.dynamicRobot.signal('Jcom'),
- self.featureCom.signal('jacobianIN'))
- self.featureCom.signal('selec').value = '011'
+ plug(self.dynamic.com, self.featureCom.errorIN)
+ plug(self.dynamic.Jcom,
+ self.featureCom.jacobianIN)
+ self.featureCom.selec.value = '011'
self.featureComDes = FeatureGeneric(self.name + '.feature.ref.com')
- self.featureComDes.signal('errorIN').value = (.0, .0, 0.)
- self.featureCom.signal('sdes').value = self.featureComDes
+ self.featureComDes.errorIN.value = (.0, .0, 0.)
+ self.featureCom.sdes.value = self.featureComDes
self.comTask = Task(self.name + '.task.com')
self.comTask.add(self.name + '.feature.com')
- self.comTask.signal('controlGain').value = 1.
+ self.comTask.controlGain.value = 1.
# --- operational points tasks -----
self.features = dict()
self.tasks = dict()
for op in self.OperationalPoints:
- self.dynamicRobot.signal(op).recompute(0)
+ self.dynamic.signal(op).recompute(0)
self.features[op] = \
FeaturePosition(self.name + '.feature.' + op,
- self.dynamicRobot.signal(op),
- self.dynamicRobot.signal('J' + op),
- self.dynamicRobot.signal(op).value)
+ self.dynamic.signal(op),
+ self.dynamic.signal('J' + op),
+ self.dynamic.signal(op).value)
self.tasks[op] = Task(self.name + '.task.' + op)
self.tasks[op].add(self.name + '.feature.' + op)
- self.tasks[op].signal('controlGain').value = .2
+ self.tasks[op].controlGain.value = .2
+ # define a member for each operational point
+ w = op.split('-')
+ memberName = w[0]
+ for i in w[1:]:
+ memberName += i.capitalize()
+ setattr(self, memberName, self.features[op])
- def __init__(self, name, simu):
+ def __init__(self, name, simulation):
self.name = name
- if simu:
- self.simu = True
+ if simulation:
+ self.simulation = True
else:
- self.simu = False
+ self.simulation = False
def restart(self):
- if self.robotSimu:
- self.robotSimu.set(self.halfSitting)
- self.dynamicRobot.signal('position').value = self.halfSitting
- self.dynamicRobot.signal('velocity').value = self.dimension * (0.,)
- self.dynamicRobot.signal('acceleration').value = self.dimension * (0.,)
- if self.robotSimu:
- self.robotSimu.increment(.001)
+ if self.simu:
+ self.simu.set(self.halfSitting)
+ self.dynamic.position.value = self.halfSitting
+ self.dynamic.velocity.value = self.dimension * (0.,)
+ self.dynamic.acceleration.value = self.dimension * (0.,)
+ if self.simu:
+ self.simu.increment(.001)
@@ -221,14 +227,14 @@ class HumanoidRobot(AbstractHumanoidRobot):
halfSitting = [] #FIXME
name = None
- simu = None
+ simulation = None
filename = None
- def __init__(self, name, simu, filename):
- AbstractHumanoidRobot.__init__(self, name, simu)
+ def __init__(self, name, simulation, filename):
+ AbstractHumanoidRobot.__init__(self, name, simulation)
self.filename = filename
- self.dynamicRobot = \
+ self.dynamic = \
self.loadModelFromKxml (self.name + '.dynamics', self.filename)
- self.dimension = self.dynamicRobot.getDimension()
+ self.dimension = self.dynamic.getDimension()
self.halfSitting = self.dimension*(0.,)
self.initializeRobot()
--
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