Rename.

python/dyndebug.py

@@ -6,7 +6,7 @@ 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 MetaTask6d import MetaTaskDyn6d
+from meta_task_dyn_6d import MetaTaskDyn6d
 
 from robotSpecific import pkgDataRootDir,modelName,robotDimension,initialConfig,gearRatio,inertiaRotor
 robotName = 'hrp10small'

python/meta_task_dyn_6d.py

+from dynamic_graph import plug
+from dynamic_graph.sot.core import GainAdaptive
+from dynamic_graph.sot.dyninv import TaskDynPD
+from dynamic_graph.sot.core.meta_task_6d import MetaTask6d
+
+class MetaTaskDyn6d(MetaTask6d):
+    def createTask(self):
+        self.task = TaskDynPD('task'+self.name)
+        self.task.dt.value = 1e-3
+    def createGain(self):
+        self.gain = GainAdaptive('gain'+self.name)
+        self.gain.set(1050,45,125e3)
+    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.dyn.velocity,self.task.qdot)
+        plug(self.task.error,self.gain.error)
+        plug(self.gain.gain,self.task.controlGain)