sot-torque-control
1.6.5
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
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test_sot_loader_light.py
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# -*- coding: utf-8 -*-
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"""
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2014, LAAS/CNRS
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@author: Andrea Del Prete
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"""
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import
random
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from
dynamic_graph
import
plug
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# from dynamic_graph.sot.torque_control.force_torque_estimator import ForceTorqueEstimator
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from
dynamic_graph.ros
import
RosExport
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from
dynamic_graph.sot.application.velocity.precomputed_tasks
import
Application
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def
randTuple
(size):
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v = ()
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for
i
in
range(0, size - 1):
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v = v + (random.random(),)
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return
v
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def
test_ros
(robot):
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# SCRIPT PARAMETERS
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# j = 0
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# index of joint under analysis
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# N = 300
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# test duration (in number of timesteps)
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# dt = 0.001
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# time step
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# estimationDelay = 10
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# delay introduced by the estimation [number of time steps]
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createRosTopics = 1
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# 1=true, 0=false
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# CONSTANTS
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nj = 30
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# number of joints
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# rad2deg = 180 / 3.14
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app = Application(robot)
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dq_des = nj * (0.0,)
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app.robot.device.control.value = dq_des
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if
createRosTopics == 1:
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ros = RosExport(
"rosExport"
)
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ros.add(
"vector"
,
"robotStateRos"
,
"state"
)
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plug(robot.device.state, ros.robotStateRos)
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# robot.device.after.addSignal('rosExport.robotStateRos')
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return
ros
torque_control.test_sot_loader_light.test_ros
test_ros(robot)
Definition
test_sot_loader_light.py:23
torque_control.test_sot_loader_light.randTuple
randTuple(size)
Definition
test_sot_loader_light.py:16
src
dynamic_graph
sot
torque_control
test_sot_loader_light.py
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1.9.8