# -*- coding: utf-8 -*-
# Copyright 2018, <NAME>, CNRS, ENS Rennes
#
# This file is part of dynamic-graph.
# dynamic-graph is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# dynamic-graph is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
# General Lesser Public License for more details.  You should have
# received a copy of the GNU Lesser General Public License along with
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
print("Prologue: the best of the best of the best YOYOMAN01 made by the best mecatronician engineer FCAM1 -with the help of xelofox-")

from dynamic_graph.entity import PyEntityFactoryClass
from dynamic_graph.sot.yoyoman01.robot import Robot

# Create the device.
# This entity behaves exactly like robotsimu except:
# 1. it does not provide the increment command
# 2. it forwards the robot control to the sot-abstract
#    controller.
Device = PyEntityFactoryClass('Device')

# Create the robot using the device.
robot = Robot(name = 'robot', device = Device('YOYOMAN01'))

robot.dynamic.com.recompute (0)
_com = robot.dynamic.com.value
robot.device.zmp.value = (_com[0], _com[1], 0.)

__all__ = ["robot"]

####################################
#        --- IMPORTANT ---         #
#                                  #
# THIS FILE MUST NEVER BE CHANGED. #
# TO RUN YOUR EXPERIMENT, PLEASE   #
# WRITE A SEPARATE PYTHON MODULE   #
# AND LAUNCH IT USING dg-remote!   #
####################################

# -*- coding: utf-8 -*-
# Copyright 2018, <NAME>, CNRS, ENS Rennes
#
# This file is part of dynamic-graph.
# dynamic-graph is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# dynamic-graph is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
# General Lesser Public License for more details.  You should have
# received a copy of the GNU Lesser General Public License along with
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
print("Prologue: the best of the best of the best YOYOMAN01 made by the best mecatronician engineer FCAM1 -with the help of xelofox-")

from dynamic_graph.entity import PyEntityFactoryClass
from dynamic_graph.sot.yoyoman01.robot import Robot

# Create the device.
# This entity behaves exactly like robotsimu except:
# 1. it does not provide the increment command
# 2. it forwards the robot control to the sot-abstract
#    controller.
Device = PyEntityFactoryClass('Device')

# Create the robot using the device.
robot = Robot(name = 'robot', device = Device('YOYOMAN01'))

robot.dynamic.com.recompute (0)
_com = robot.dynamic.com.value
robot.device.zmp.value = (_com[0], _com[1], 0.)

__all__ = ["robot"]

####################################
#        --- IMPORTANT ---         #
#                                  #
# THIS FILE MUST NEVER BE CHANGED. #
# TO RUN YOUR EXPERIMENT, PLEASE   #
# WRITE A SEPARATE PYTHON MODULE   #
# AND LAUNCH IT USING dg-remote!   #
####################################

# -*- coding: utf-8 -*- # Copyright 2018, <NAME>, CNRS, ENS Rennes # # This file is part of dynamic-graph. # dynamic-graph is free software: you can redistribute it and/or # modify it under the terms of the GNU Lesser General Public License # as published by the Free Software Foundation, either version 3 of # the License, or (at your option) any later version. # # dynamic-graph is distributed in the hope that it will be useful, but # WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU # General Lesser Public License for more details.  You should have # received a copy of the GNU Lesser General Public License along with # dynamic-graph. If not, see <http://www.gnu.org/licenses/>. # Create the device. # This entity behaves exactly like robotsimu except: # 1. it does not provide the increment command # 2. it forwards the robot control to the sot-abstract #    controller. # Create the robot using the device. #################################### #        --- IMPORTANT ---         # #                                  # # THIS FILE MUST NEVER BE CHANGED. # # TO RUN YOUR EXPERIMENT, PLEASE   # # WRITE A SEPARATE PYTHON MODULE   # # AND LAUNCH IT USING dg-remote!   # ####################################