# CODE FROM ONE OF ABOVE METHODS HERE # remove uncontrolled dimensions from u_task u_task = u_task[ctrlr_dof] # transform from operational space to torques and # add in velocity and gravity compensation in joint space u = (np.dot(J.T, np.dot(Mx, u_task)) - kv * np.dot(M, ...
Writing the docstring and pseudocodeBefore we start coding, we need a place to put the code. Create the skeletonutils.py file inside the development root you chose in Chapter 1, Introspecting Maya, Python, and PyMEL. This book's examples use C:\mayapybook\pylib....