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aimclub · Jul 27, 2023 · 6154d65 · 6154d65
1 parent 8c47107
commit 6154d65
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/app/handle_one_graph.py b/app/handle_one_graph.py
@@ -12,7 +12,7 @@
 from rostok.graph_grammar.node import GraphGrammar
 from rostok.library.obj_grasp.objects import get_object_parametrized_sphere, get_object_ellipsoid
 from rostok.library.rule_sets.ruleset_old_style import create_rules
-from rostok.library.rule_sets.simple_designs import get_two_link_three_finger, get_one_finger_one_link, get_three_link_one_finger, get_three_same_link_one_finger, get_four_same_link_one_finger
+from rostok.library.rule_sets.simple_designs import get_one_finger_one_link, get_two_link_three_finger, get_one_finger_one_link, get_three_link_one_finger, get_three_same_link_one_finger, get_four_same_link_one_finger
 from rostok.simulation_chrono.basic_simulation import SimulationResult
 # create rule vocabulary
 rule_vocabul = create_rules()
@@ -49,7 +49,9 @@
     #graph=get_two_link_three_finger()
     #control = [10.5, 4.166667, 10.5, 10.5, 10.5, 10.5]
     #control = [1.05 , 1.683, 1.683, 0.417, 1.05 , 0.417]
+    graph=get_one_finger_one_link()
     control = [1.683, 1.05,  0.3]
+    control = [5]
     print('control:', control)
     data = control_optimizer.optim_parameters2data_control(control, graph)
     print(data)
@@ -61,7 +63,8 @@
         velocity_data_idx = list(simulation_output.robot_final_ds.get_data("body_velocity").keys())
         trajectories = simulation_output.robot_final_ds.get_data("COG")[velocity_data_idx[-1]]
         velocity_data = simulation_output.robot_final_ds.get_data("body_velocity")[velocity_data_idx[-1]]
-        velocity_data = [np.linalg.norm(x) for x in velocity_data]
+        #velocity_data = [np.linalg.norm(x) for x in velocity_data]
+        velocity_data = [x[0] for x in velocity_data]
         plt.plot(time_vector, velocity_data)
         plt.show()
 

diff --git a/rostok/library/rule_sets/simple_designs.py b/rostok/library/rule_sets/simple_designs.py
@@ -17,8 +17,7 @@ def get_palm():
 def get_one_finger_one_link():
     graph = GraphGrammar()
     rules = ["Init",
-        "AddFinger", "Terminal_Radial_Translate1", "Phalanx","Remove_FG",
-        "Terminal_Link3", 
+        "AddFinger", "Terminal_Radial_Translate1", "Phalanx","Remove_FG", "Terminal_Link3", 
         "RemoveFinger_N",
         "RemoveFinger_R", 
         "RemoveFinger_RN",