From 0c21be3221171d2cf01a6bb0d159e16eae87110c Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Thu, 28 Jul 2011 14:13:20 +0200
Subject: [PATCH] IVIGIT.
---
CMakeLists.txt | 2 +
python/dyndebug.py | 1 +
python/kinedebug.py | 195 +++-------------
python/kinesimple.py | 283 +++++++++++++++++++++++
src/dynamic_graph/sot/dyninv/__init__.py | 2 +
5 files changed, 317 insertions(+), 166 deletions(-)
create mode 100644 python/kinesimple.py
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f70429e..bd21a2e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -55,6 +55,7 @@ SET(libs
task-dyn-pd
task-dyn-joint-limits
solver-op-space
+ solver-dyn-reduced
solver-kine
task-joint-limits
@@ -82,6 +83,7 @@ SET(headers
task-dyn-pd.h
task-dyn-joint-limits.h
solver-op-space.h
+ solver-dyn-reduced.h
task-joint-limits.h
task-inequality.h
diff --git a/python/dyndebug.py b/python/dyndebug.py
index d8152f3..2f2d179 100644
--- a/python/dyndebug.py
+++ b/python/dyndebug.py
@@ -10,6 +10,7 @@ from meta_task_dyn_6d import MetaTaskDyn6d
from robotSpecific import pkgDataRootDir,modelName,robotDimension,initialConfig,gearRatio,inertiaRotor
robotName = 'hrp10small'
+robotName = 'hrp14small'
from numpy import *
def totuple( a ):
diff --git a/python/kinedebug.py b/python/kinedebug.py
index e9e9d1b..8615a48 100644
--- a/python/kinedebug.py
+++ b/python/kinedebug.py
@@ -43,7 +43,7 @@ try:
RobotSimu.stateFullSize = stateFullSize
robot.viewer = robotviewer.client('XML-RPC')
-# robot.viewer.updateElementConfig('hrp',robot.stateFullSize())
+ robot.viewer.updateElementConfig('hrp',robot.stateFullSize())
def refreshView( robot ):
robot.viewer.updateElementConfig('hrp',robot.stateFullSize())
@@ -137,13 +137,13 @@ class MetaTaskKine6d( MetaTask6d ):
# Task right hand
taskRH=MetaTaskKine6d('rh',dyn,'rh','right-wrist')
-taskRH.ref = ((0,0,-1,0.22),(0,1,0,-0.37),(1,0,0,.74),(0,0,0,1))
taskLH=MetaTaskKine6d('lh',dyn,'lh','left-wrist')
-#TODO taskLH.ref = ((0,0,-1,0.22),(0,1,0,0.37),(1,0,0,.74),(0,0,0,1))
# Task LFoot: Move the right foot up.
taskRF=MetaTaskKine6d('rf',dyn,'rf','right-ankle')
taskLF=MetaTaskKine6d('lf',dyn,'lf','left-ankle')
+taskRF.task.controlGain.value = 10 #.5/dt
+taskLF.task.controlGain.value = 10 #.5/dt
# --- TASK COM ------------------------------------------------------
dyn.setProperty('ComputeCoM','true')
@@ -161,7 +161,7 @@ taskCom.add('featureCom')
gCom = GainAdaptive('gCom')
plug(taskCom.error,gCom.error)
plug(gCom.gain,taskCom.controlGain)
-gCom.set(1,1,1)
+gCom.setConstant(1)
# --- TASK SUPPORT --------------------------------------------------
featureSupport = FeatureGeneric('featureSupport')
@@ -206,11 +206,11 @@ plug(dyn.upperJl,taskJL.referenceSup)
taskJL.dt.value = dt
taskJL.selec.value = toFlags(range(6,robotDim))
-# --- SOT Dyn OpSpaceH --------------------------------------
+# --- SOT KINE OpSpaceH -------------------------------------------
# SOT controller.
sot = SolverKine('sot')
sot.setSize(robotDim)
-#sot.damping.value = 2e-2
+sot.damping.value = 1e-6
plug(sot.control,robot.control)
@@ -227,7 +227,7 @@ from dynamic_graph.tracer import *
from dynamic_graph.tracer_real_time import *
tr = TracerRealTime('tr')
tr.setBufferSize(10485760)
-tr.open('/tmp/','dyn_','.dat')
+tr.open('/tmp/','','.dat')
tr.start()
#robot.periodicCall addSignal tr.triger
@@ -240,11 +240,14 @@ tr.add('dyn.position','state')
# tr.add('gCom.error','gerror')
tr.add('sot.control','')
+tr.add('taskJL.'+taskJL.normalizedPosition.name,'')
+robot.after.addSignal('taskJL.'+taskJL.normalizedPosition.name)
# --- shortcuts -------------------------------------------------
qn=taskJL.normalizedPosition
q=taskJL.position
comref=featureComDes.errorIN
+com=featureCom.errorIN
@optionalparentheses
def iter(): print 'iter = ',robot.state.time
@@ -253,19 +256,23 @@ def dump(): tr.dump()
@optionalparentheses
def status(): print runner.isPlay
-# --- A FIRST MOTION ---------------------------------------------
+matlab.prec=4
+#matlab.fullPrec=0
+
+# --- RUN ------------------------------------------------
-if 0:
- sot.addContact(taskLF)
- sot.addContact(taskRF)
- sot.push(taskCom.name)
- sot.push(taskRH.task.name)
+gCom.setByPoint(10,1,.1,.8)
+#comref.value = ( 0.05,0.16,0.7 )
+comref.value = ( -0.02,-0.02,0.8 )
- taskRH.ref = ((0,0,-1,0.22),(0,1,0,-0.5),(1,0,0,1.24),(0,0,0,1))
- taskRH.gain.setConstant(1)
- comref.value=( 0.059949815729, 0.2098857010921, 0.750396505072 )
+#taskRH.feature.selec.value = '111'
+taskRH.gain.setConstant(1)
+
+# Hit the Y-border border of the COM
+#taskRH.ref = ((0,0,-1,0.22),(0,1,0,-0.64),(1,0,0,1.24),(0,0,0,1))
+# Hit both X and Y borders of the COM
+taskRH.ref = ((0,0,-1,0.25),(0,1,0,-0.64),(1,0,0,1.24),(0,0,0,1))
-# --- RUN ------------------------------------------------
#sot.damping.value=.1
sot.addContact(taskLF)
@@ -274,158 +281,14 @@ sot.addContact(taskRF)
sot.push(taskJL.name)
sot.push(taskSupport.name)
sot.push(taskRH.task.name)
+#sot.push(taskCom.name)
-taskRH.ref = ((0,0,-1,0.22),(0,1,0,-0.5),(1,0,0,1.24),(0,0,0,1))
-taskRH.gain.setConstant(1)
-comref.value=( 0.059949815729, 0.2098857010921, 0.750396505072 )
-
-tr.add('taskJL.normalizedPosition','qn')
-robot.after.addSignal('taskJL.normalizedPosition')
-robot.after.addSignal('taskJL.task')
-
-# impossible position (ok with damping):
-taskRH.ref = ((0,0,-1,0.32),(0,1,0,-0.75),(1,0,0,1.24),(0,0,0,1))
-# feasible
-taskRH.ref = ((0,0,-1,0.32),(0,1,0,-0.63),(1,0,0,1.24),(0,0,0,1))
-
-# --- UMBRELLA ----------------------------------------------------
-# --- UMBRELLA ----------------------------------------------------
-# --- UMBRELLA ----------------------------------------------------
-import copy
-
-# M is the position of the top of the umbrella.
-M=identity(4)
-M[0][3]=.595 # Stick lenght
-M[0][3]=.45 # without unbrella lenght
-M[2][3]=-.19 # Lenght of the wrist
-widthUmbrella=.41 # Width of the umbrella
-# List of the polygon defining the umbrella hat.
-umbrellaPolygon = [ [ +1,+1 ],[+1,-1],[-1,-1],[-1,+1] ]
-umbrellaPointNames = [ 'a','b','c','d' ]
-
-# Creation of the Op Point modifiers for each vertex of the polygon.
-dyn.createJacobian('Jrh0','right-wrist')
-umbrellaModif = dict()
-for i in range(len(umbrellaPolygon)):
- point=umbrellaPolygon[i]
- name=umbrellaPointNames[i]
- modif=OpPointModifier('modif'+name)
- modif.setEndEffector(False)
- plug(dyn.rh,modif.positionIN)
- plug(dyn.Jrh0,modif.jacobianIN)
- Mi=copy.copy(M)
- Mi[1][3]+=widthUmbrella*point[0]
- Mi[2][3]+=widthUmbrella*point[1]
- modif.setTransformation(totuple(Mi))
- umbrellaModif[name]=modif
-
-# Creation of the features for the edges of the polygon.
-umbrellaFeature=dict()
-for i in range(len(umbrellaPointNames)):
- nameA=umbrellaPointNames[i]
- if i+1<len(umbrellaPointNames):
- nameB=umbrellaPointNames[i+1]
- else:
- nameB=umbrellaPointNames[0]
- A=umbrellaModif[nameA]
- B=umbrellaModif[nameB]
- feature=FeatureProjectedLine('feature'+nameA+nameB)
- plug(A.position,feature.xa)
- plug(A.jacobian,feature.Ja)
- plug(B.position,feature.xb)
- plug(B.jacobian,feature.Jb)
- feature.xc.value = (0,0)
- umbrellaFeature[nameA+nameB]=feature
-
-# Adding everything to the tracer
-for name in umbrellaPointNames:
- tr.add(umbrellaModif[name].name+'.position',name)
- #robot.after.addSignal(umbrellaModif[name].name+'.position')
-for name,feature in umbrellaFeature.items():
- tr.add(feature.name+'.error','e'+name)
- #robot.after.addSignal(feature.name+'.error')
-
-
-A=umbrellaModif['a'].position
-B=umbrellaModif['b'].position
-C=umbrellaModif['c'].position
-D=umbrellaModif['d'].position
-
-AB=umbrellaFeature['ab']
-BC=umbrellaFeature['bc']
-CD=umbrellaFeature['cd']
-DA=umbrellaFeature['da']
-
-# Position at starting point: error is null
-CD.xc.value=(-0.001012500000,-0.609998000000)
-DA.xc.value=CD.xc.value
-AB.xc.value=(0.818988000000,0.210001000000)
-BC.xc.value=AB.xc.value
-
-CD.xc.value=(0.0,-0.6)
-DA.xc.value=CD.xc.value
-AB.xc.value=(0.8,0.2)
-BC.xc.value=AB.xc.value
-
-robot.set((0.15787508826861599, 0.045511651751362708, 0.58971500036966162, -0.0040107700215134432, -0.45564238401733737, -0.52686538178073516, 0.44716913166621519, 0.30513254004984031, 0.080434789095732442, 1.1705171307901581, -0.84322874602000764, -0.085337729992559314, 0.34519179463400057, 0.51096319874334073, 0.39729314896741563, 0.79637015282207479, -0.74524853791029155, -0.3113477017777998, 0.59528786833733205, -0.0060236125952612008, 0.042089394399565112, 0.028985249939047025, -0.37671405575009481, -0.29002038141976838, -0.43761993851863368, -2.0077185039386283, -0.50346194284379353, 1.3345805041453564, 0.030948677237969232, 0.13701711567791786, 0.43501758221426229, 0.11316541844882388, -0.17894103295334104, 0.00080661744280727005, 0.054276071429870718, 0.0050874263605387498))
-
-#AB.xc.value = (0,0,0)
-#BC.xc.value = (0,0,1.2)
-#CD.xc.value = (0,0,1.2)
-#DA.xc.value = (0,0,1.2)
-
-taskAB=Task('taskAB')
-taskAB.add(umbrellaFeature['ab'].name)
-#taskAB.add(umbrellaFeature['bc'].name)
-#taskAB.add(umbrellaFeature['cd'].name)
-#taskAB.add(umbrellaFeature['da'].name)
-taskAB.controlGain.value = 10
-
-taskBC=Task('taskBC')
-taskBC.add(umbrellaFeature['bc'].name)
-taskBC.controlGain.value = 10
-
-taskCD=Task('taskCD')
-taskCD.add(umbrellaFeature['cd'].name)
-taskCD.controlGain.value = 10
-
-
-# And finally, creating the task.
-taskUmbrella=TaskInequality('taskUmbrella')
-taskUmbrella.controlGain.value = .01
-taskUmbrella.referenceSup.value = (0,0,0,0)
-taskUmbrella.dt.value=dt
-for name,feature in umbrellaFeature.items():
- taskUmbrella.add(feature.name)
- feature.xc.value = (0.5,-0.7)
-tr.add('taskUmbrella.error','error')
-
-
-sot.clear()
-sot.push(taskUmbrella.name)
-
-
-@attime(100)
-def m1():
- "adding COM"
- comref.value = ( 0.05,0.16,0.7 )
- sot.addContact(taskLF)
- sot.addContact(taskRF)
- sot.push(taskCom.name)
- gCom.setByPoint(10,1,.1,.8)
-
-@attime(200)
-def m2():
- "adding RH"
- taskRH.feature.selec.value = '111'
- X=mat(identity(4))
- X[0:3,3]=mat( (.3,-.6,1.3 )).H
- taskRH.ref = totuple(X)
- sot.push(taskRH.task.name)
+#@attime(200)
+def freeComZ():
+ 'Free the Z component of the COM'
+ featureCom.selec.value = '11'
attime(1000,stop,'pause')
attime(1000,dump,'dump')
-matlab.prec=4
-#matlab.fullPrec=0
diff --git a/python/kinesimple.py b/python/kinesimple.py
new file mode 100644
index 0000000..40f88af
--- /dev/null
+++ b/python/kinesimple.py
@@ -0,0 +1,283 @@
+from dynamic_graph import plug
+from dynamic_graph.sot.core import *
+from dynamic_graph.sot.core.math_small_entities import Derivator_of_Matrix
+from dynamic_graph.sot.dynamics import *
+from dynamic_graph.sot.dyninv import *
+import dynamic_graph.script_shortcuts
+from dynamic_graph.script_shortcuts import optionalparentheses
+from dynamic_graph.matlab import matlab
+from dynamic_graph.sot.core.meta_task_6d import MetaTask6d,toFlags
+from attime import attime
+
+from robotSpecific import pkgDataRootDir,modelName,robotDimension,initialConfig,gearRatio,inertiaRotor
+robotName = 'hrp14small'
+
+from numpy import *
+def totuple( a ):
+ al=a.tolist()
+ res=[]
+ for i in range(a.shape[0]):
+ res.append( tuple(al[i]) )
+ return tuple(res)
+
+
+# --- ROBOT SIMU ---------------------------------------------------------------
+# --- ROBOT SIMU ---------------------------------------------------------------
+# --- ROBOT SIMU ---------------------------------------------------------------
+
+robotDim=robotDimension[robotName]
+robot = RobotSimu("robot")
+robot.resize(robotDim)
+
+robot.set( initialConfig[robotName] )
+dt=5e-3
+
+# --- VIEWER -------------------------------------------------------------------
+# --- VIEWER -------------------------------------------------------------------
+# --- VIEWER -------------------------------------------------------------------
+try:
+ import robotviewer
+
+ def stateFullSize(robot):
+ return [float(val) for val in robot.state.value]+10*[0.0]
+ RobotSimu.stateFullSize = stateFullSize
+
+ robot.viewer = robotviewer.client('XML-RPC')
+# robot.viewer.updateElementConfig('hrp',robot.stateFullSize())
+
+ def refreshView( robot ):
+ robot.viewer.updateElementConfig('hrp',robot.stateFullSize())
+ RobotSimu.refresh = refreshView
+ def incrementView( robot,dt ):
+ robot.incrementNoView(dt)
+ robot.refresh()
+ RobotSimu.incrementNoView = RobotSimu.increment
+ RobotSimu.increment = incrementView
+ def setView( robot,*args ):
+ robot.setNoView(*args)
+ robot.refresh()
+ RobotSimu.setNoView = RobotSimu.set
+ RobotSimu.set = setView
+
+ robot.refresh()
+except:
+ print "No robot viewer, sorry."
+ robot.viewer = None
+
+
+# --- MAIN LOOP ------------------------------------------
+
+qs=[]
+def inc():
+ attime.run(robot.control.time+1)
+ robot.increment(dt)
+ tr.triger.recompute( robot.control.time )
+ qs.append(robot.state.value)
+
+from ThreadInterruptibleLoop import *
+@loopInThread
+def loop():
+ inc()
+
+runner=loop()
+
+@optionalparentheses
+def go(): runner.play()
+@optionalparentheses
+def stop(): runner.pause()
+@optionalparentheses
+def next(): runner.once()
+
+# --- DYN ----------------------------------------------------------------------
+# --- DYN ----------------------------------------------------------------------
+# --- DYN ----------------------------------------------------------------------
+
+modelDir = pkgDataRootDir[robotName]
+xmlDir = pkgDataRootDir[robotName]
+specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
+jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
+
+dyn = Dynamic("dyn")
+dyn.setFiles(modelDir, modelName[robotName],specificitiesPath,jointRankPath)
+dyn.parse()
+
+dyn.inertiaRotor.value = inertiaRotor[robotName]
+dyn.gearRatio.value = gearRatio[robotName]
+
+plug(robot.state,dyn.position)
+dyn.velocity.value = robotDim*(0.,)
+dyn.acceleration.value = robotDim*(0.,)
+
+dyn.ffposition.unplug()
+dyn.ffvelocity.unplug()
+dyn.ffacceleration.unplug()
+
+#dyn.setProperty('ComputeBackwardDynamics','true')
+#dyn.setProperty('ComputeAccelerationCoM','true')
+
+robot.control.unplug()
+
+# --- Task Dyn -----------------------------------------
+class MetaTaskKine6d( MetaTask6d ):
+ def createTask(self):
+ self.task = Task('task'+self.name)
+
+ def createGain(self):
+ self.gain = GainAdaptive('gain'+self.name)
+ self.gain.set(0.1,0.1,125e3)
+ def plugEverything(self):
+ self.feature.sdes.value = self.featureDes.name
+ plug(self.dyn.signal(self.opPoint),self.feature.signal('position'))
+ plug(self.dyn.signal('J'+self.opPoint),self.feature.signal('Jq'))
+ self.task.add(self.feature.name)
+ plug(self.task.error,self.gain.error)
+ plug(self.gain.gain,self.task.controlGain)
+ def keep(self):
+ self.feature.position.recompute(self.dyn.position.time)
+ self.feature.keep()
+
+# Task right hand
+taskRH=MetaTaskKine6d('rh',dyn,'rh','right-wrist')
+taskRH.ref = ((0,0,-1,0.22),(0,1,0,-0.37),(1,0,0,.74),(0,0,0,1))
+taskLH=MetaTaskKine6d('lh',dyn,'lh','left-wrist')
+#TODO taskLH.ref = ((0,0,-1,0.22),(0,1,0,0.37),(1,0,0,.74),(0,0,0,1))
+
+# Task LFoot: Move the right foot up.
+taskRF=MetaTaskKine6d('rf',dyn,'rf','right-ankle')
+taskLF=MetaTaskKine6d('lf',dyn,'lf','left-ankle')
+
+# --- TASK COM ------------------------------------------------------
+dyn.setProperty('ComputeCoM','true')
+
+featureCom = FeatureGeneric('featureCom')
+featureComDes = FeatureGeneric('featureComDes')
+plug(dyn.com,featureCom.errorIN)
+plug(dyn.Jcom,featureCom.jacobianIN)
+featureCom.sdes.value = 'featureComDes'
+featureComDes.errorIN.value = (0.0478408688115,-0.0620357207995,0.684865189311)
+
+taskCom = Task('taskCom')
+taskCom.add('featureCom')
+
+gCom = GainAdaptive('gCom')
+plug(taskCom.error,gCom.error)
+plug(gCom.gain,taskCom.controlGain)
+gCom.set(1,1,1)
+
+# --- TASK SUPPORT --------------------------------------------------
+featureSupport = FeatureGeneric('featureSupport')
+plug(dyn.com,featureSupport.errorIN)
+plug(dyn.Jcom,featureSupport.jacobianIN)
+
+taskSupport=TaskInequality('taskSupport')
+taskSupport.add(featureSupport.name)
+taskSupport.selec.value = '011'
+taskSupport.referenceInf.value = (-0.08,-0.045,0) # Xmin, Ymin
+taskSupport.referenceSup.value = (0.11,0.335,0) # Xmax, Ymax
+taskSupport.dt.value=dt
+
+# --- TASK POSTURE --------------------------------------------------
+featurePosture = FeatureGeneric('featurePosture')
+featurePostureDes = FeatureGeneric('featurePostureDes')
+plug(dyn.position,featurePosture.errorIN)
+featurePosture.sdes.value = 'featurePostureDes'
+featurePosture.jacobianIN.value = totuple( identity(robotDim) )
+featurePostureDes.errorIN.value = dyn.position.value
+
+taskPosture = Task('taskPosture')
+taskPosture.add('featurePosture')
+
+gPosture = GainAdaptive('gPosture')
+plug(taskPosture.error,gPosture.error)
+plug(gPosture.gain,taskPosture.controlGain)
+gPosture.set(1,1,1)
+
+postureSelec = range(0,3) # right leg
+postureSelec += range(6,9) # left leg
+postureSelec += range(12,16) # chest+head
+#postureSelec += range(16,19) # right arm
+#postureSelec += range(23,26) # left arm
+featurePosture.selec.value = toFlags(postureSelec)
+
+# --- TASK JL ------------------------------------------------------
+taskJL = TaskJointLimits('taskJL')
+plug(dyn.position,taskJL.position)
+plug(dyn.lowerJl,taskJL.referenceInf)
+plug(dyn.upperJl,taskJL.referenceSup)
+taskJL.dt.value = dt
+taskJL.selec.value = toFlags(range(6,robotDim))
+
+# --- SOT Dyn OpSpaceH --------------------------------------
+# SOT controller.
+sot = SolverKine('sot')
+sot.setSize(robotDim)
+#sot.damping.value = 2e-2
+
+plug(sot.control,robot.control)
+
+def sot_addContact( sot,metaTask ):
+ metaTask.keep()
+ sot.push(metaTask.task.name)
+import new
+sot.addContact = new.instancemethod(sot_addContact, sot, sot.__class__)
+
+
+# --- TRACE ----------------------------------------------
+
+from dynamic_graph.tracer import *
+from dynamic_graph.tracer_real_time import *
+tr = TracerRealTime('tr')
+tr.setBufferSize(10485760)
+tr.open('/tmp/','dyn_','.dat')
+tr.start()
+
+#robot.periodicCall addSignal tr.triger
+
+#tr.add('p6.error','position')
+tr.add('featureCom.error','comerror')
+tr.add('dyn.com','com')
+tr.add('dyn.position','state')
+# tr.add('gCom.gain','')
+# tr.add('gCom.error','gerror')
+
+tr.add('sot.control','')
+
+# --- shortcuts -------------------------------------------------
+qn=taskJL.normalizedPosition
+q=taskJL.position
+comref=featureComDes.errorIN
+
+@optionalparentheses
+def iter(): print 'iter = ',robot.state.time
+@optionalparentheses
+def dump(): tr.dump()
+@optionalparentheses
+def status(): print runner.isPlay
+@optionalparentheses
+def iter(): print 'iter = ',robot.state.time
+
+# --- RUN ------------------------------------------------
+
+#sot.damping.value=.1
+sot.addContact(taskLF)
+sot.addContact(taskRF)
+sot.push(taskCom.name)
+#sot.push(taskJL.name)
+#sot.push(taskSupport.name)
+sot.push(taskRH.task.name)
+
+taskRH.ref = ((0,0,-1,0.22),(0,1,0,-0.5),(1,0,0,1.24),(0,0,0,1))
+taskRH.gain.setConstant(1)
+comref.value=( 0.05, 0.1, 0.75 )
+
+tr.add('taskJL.normalizedPosition','qn')
+
+@attime(100)
+def m1():
+ "Timer 1... done"
+
+attime(1000,stop,'pause')
+attime(1000,dump,'dump')
+
+#matlab.prec=4
+#matlab.fullPrec=0
diff --git a/src/dynamic_graph/sot/dyninv/__init__.py b/src/dynamic_graph/sot/dyninv/__init__.py
index d866a4c..d1dca2a 100755
--- a/src/dynamic_graph/sot/dyninv/__init__.py
+++ b/src/dynamic_graph/sot/dyninv/__init__.py
@@ -12,6 +12,8 @@ PseudoRobotDynamic('')
from solver_op_space import SolverOpSpace
SolverOpSpace('')
+from solver_dyn_reduced import SolverDynReduced
+SolverDynReduced('')
from solver_kine import SolverKine
SolverKine('')
--
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