def head(self):
links = [self.head_pan_link, self.head_tilt_link]
joints = []
for link in links:
joints.append(link.joint)
r = RobotModel(link_list=links, joint_list=joints)
r.end_coords = self.head_end_coords
return r
def rarm(self):
rarm_links = [
self.shoulder_pan_link, self.shoulder_lift_link,
self.upperarm_roll_link, self.elbow_flex_link,
self.forearm_roll_link, self.wrist_flex_link, self.wrist_roll_link
]
rarm_joints = []
for link in rarm_links:
rarm_joints.append(link.joint)
r = RobotModel(link_list=rarm_links, joint_list=rarm_joints)
r.end_coords = self.rarm_end_coords
return r
def rrear(self):
rrear_links = [
self.rear_right_shoulder_link, self.rear_right_leg_link_cover,
self.rear_right_leg_link, self.rear_right_foot_link,
self.rear_right_toe_link
]
rrear_joints = []
for link in rrear_links:
rrear_joints.append(link.joint)
r = RobotModel(link_list=rrear_links, joint_list=rrear_joints)
r.end_coords = self.rrear_end_coords
return r
def lfront(self):
lfront_links = [
self.front_left_shoulder_link, self.front_left_leg_link_cover,
self.front_left_leg_link, self.front_left_foot_link,
self.front_left_toe_link
]
lfront_joints = []
for link in lfront_links:
lfront_joints.append(link.joint)
r = RobotModel(link_list=lfront_links, joint_list=lfront_joints)
r.end_coords = self.lfront_end_coords
return r
def larm(self):
larm_links = [
self.l_shoulder_pan_link,
self.l_shoulder_lift_link,
self.l_upper_arm_roll_link,
self.l_elbow_flex_link,
self.l_forearm_roll_link,
self.l_wrist_flex_link,
self.l_wrist_roll_link,
]
larm_joints = []
for link in larm_links:
larm_joints.append(link.joint)
r = RobotModel(link_list=larm_links, joint_list=larm_joints)
r.end_coords = self.larm_end_coords
return r
def rarm(self):
rarm_links = [
self.lbr_iiwa_with_wsg50__lbr_iiwa_link_1,
self.lbr_iiwa_with_wsg50__lbr_iiwa_link_2,
self.lbr_iiwa_with_wsg50__lbr_iiwa_link_3,
self.lbr_iiwa_with_wsg50__lbr_iiwa_link_4,
self.lbr_iiwa_with_wsg50__lbr_iiwa_link_5,
self.lbr_iiwa_with_wsg50__lbr_iiwa_link_6,
self.lbr_iiwa_with_wsg50__lbr_iiwa_link_7
]
rarm_joints = []
for link in rarm_links:
if hasattr(link, 'joint'):
rarm_joints.append(link.joint)
r = RobotModel(link_list=rarm_links, joint_list=rarm_joints)
r.end_coords = self.rarm_end_coords
return r