Unverified Commit a6cb28ab authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub

Merge pull request #17 from nim65s/devel

[Python] fix imports
parents 64bec0f0 ee8147e0
......@@ -17,6 +17,7 @@ SET(PROJECT_USE_CMAKE_EXPORT TRUE)
SET(CUSTOM_HEADER_DIR "sot/talos")
SET(CXX_DISABLE_WERROR TRUE)
# JRL-cmakemodule setup
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/python.cmake)
......
......@@ -3,7 +3,9 @@ from dynamic_graph.sot.core.matrix_util import matrixToTuple
from dynamic_graph.sot.tools import SimpleSeqPlay
from numpy import eye
from dynamic_graph.sot.core import Task, FeatureGeneric, GainAdaptive
from dynamic_graph.sot.core.sot import import Task
from dynamic_graph.sot.core.feature_generic FeatureGeneric
from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
from dynamic_graph.sot.core.meta_tasks import setGain
from dynamic_graph.sot.core.matrix_util import matrixToTuple
from numpy import identity, hstack, zeros
......@@ -29,7 +31,7 @@ aSimpleSeqPlay = SimpleSeqPlay('aSimpleSeqPlay')
aSimpleSeqPlay.load("@PYRENE_MOTIONS_DATAROOTDIR@/pyrene-motions/grabHandrail15/stairs_15cm_handrail_grab_actuated")
aSimpleSeqPlay.setTimeToStart(10.0)
# Connects the sequence player to the posture task
from dynamic_graph.sot.core import Selec_of_vector
from dynamic_graph.sot.core.operator import Selec_of_vector
from dynamic_graph import plug
plug(aSimpleSeqPlay.posture, taskPosture.featureDes.errorIN)
......@@ -47,7 +49,7 @@ plug(taskPosture.gain.gain, taskPosture.controlGain)
plug(taskPosture.error, taskPosture.gain.error)
# Create the solver
from dynamic_graph.sot.core import SOT
from dynamic_graph.sot.core.sot import SOT
sot = SOT('sot')
sot.setSize(robot.dynamic.getDimension())
plug(sot.control,robot.device.control)
......
......@@ -70,7 +70,7 @@ robot = HumanoidRobot(robotName, pinocchioRobot.model,
# ---- Kinematic Stack of Tasks (SoT) -----------------------------------------
# ------------------------------------------------------------------------------
from dynamic_graph import plug
from dynamic_graph.sot.core import SOT
from dynamic_graph.sot.core.sot import SOT
sot = SOT('sot')
sot.setSize(robot.dynamic.getDimension())
plug(sot.control,robot.device.control)
......
......@@ -67,7 +67,7 @@ robot = HumanoidRobot(robotName, pinocchioRobot.model,
# ---- Kinematic Stack of Tasks (SoT) -----------------------------------------
# ------------------------------------------------------------------------------
from dynamic_graph import plug
from dynamic_graph.sot.core import SOT
from dynamic_graph.sot.core.sot import SOT
sot = SOT('sot')
sot.setSize(robot.dynamic.getDimension())
plug(sot.control,robot.device.control)
......
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