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tried to implement arm rotation with quarternions

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This commit is contained in:
HRS_D
2019-02-05 18:30:24 +01:00
parent 3b16ae6fcd
commit 2d1b3ba1b6
3 changed files with 108 additions and 66 deletions
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16
script/cartesian_controller.py
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@@ -65,7 +65,6 @@ def jacobian():
return jacobian
def pseudo_inverse(jacobian):
return np.linalg.pinv(jacobian)
@@ -86,18 +85,21 @@ def reference_generator(p_d)
names = "LArm"
useSensors = False
commandAngles = motionProxy.getAngles(names, useSensors)
commandAnglesLArm = motionProxy.getAngles(names, useSensors)
names = "RArm"
useSensors = False
commandAngles = motionProxy.getAngles(names, useSensors)
#names = "RArm"
#useSensors = False
#commandAngles = motionProxy.getAngles(names, useSensors)
goal_angleL = commandAnglesLArm + (angular_velocity * 5)
goal_angle = mom_angle + (angular_velocity * 5)
# return desired joint position and speed
return
return goal_angleL, commandAnglesLArm
def movement(e)