def __init__ (self, robotName, load = True):
Parent.__init__ (self, robotName, self.rootJointType, load)
self.tf_root = "base_footprint"
self.halfSitting = self.getCurrentConfig ()
for j, v in self.halfSittingDict.iteritems ():
index = self.rankInConfiguration [j]
self.halfSitting [index] = v
def __init__ (self, robotName, load = True):
Parent.__init__ (self, robotName, "planar", load)
self.tf_root = 'world' # le nom du tf_root est libre
def __init__ (self, robotName, load = True):
Parent.__init__ (self, robotName, "freeflyer", load)
self.tf_root = "base_link"
self.leftAnkle = "l_sole_joint"
self.rightAnkle = "r_sole_joint"
def __init__ (self, robotName):
Parent.__init__ (self, robotName, "planar")
self.tf_root = "base_link"
def __init__ (self, robotName, load = True):
Parent.__init__ (self, robotName, self.rootJointType, load)
self.tf_root = "base_footprint"
def __init__ (self, robotName, load = True):
Parent.__init__ (self, robotName, "planar", load)
self.tf_root = "base_link"
def __init__ (self, robotName, load = True):
Parent.__init__ (self, robotName, "freeflyer", load)
self.tf_root = "emu_base"
def __init__ (self, load = True):
Parent.__init__ (self, 'hrp2', self.rootJointType, load)
def __init__(self, robotName, load=True):
Parent.__init__(self, robotName, self.rootJointType, load)
self.tf_root = "base_footprint"
self.client.basic = Client()
self.load = load
def __init__(self, robotName, load=True):
Parent.__init__(self, robotName, self.rootJointType, load)
def __init__(self, robotName, load=True):
Parent.__init__(self, robotName, self.rootJointType, load)
self.tf_root = "base_link"
def __init__ (self, robotName, load = True):
Parent.__init__ (self, robotName, "freeflyer", load)
self.tf_root = "base_link"
self.leftAnkle = "lFoot"
self.rightAnkle = "rFoot"
def __init__ (self, robotName, load = True):
Robot.__init__ (self, robotName, self.rootJointType, load)
def resetRobot(self):
try:
self.robot = Robot(client=self.client)
except:
self.robot = None
from hpp.corbaserver.robot import Robot
Robot.packageName = 'hpp_tutorial'
Robot.urdfSuffix = ''
Robot.srdfSuffix = ''
Robot.urdfName = 'pr2'
robot = Robot('pr2', "planar")
robot.tf_root = 'base_footprint'
robot.setJointBounds("base_joint_xy", [-4, -3, -5, -3])
from hpp_ros import ScenePublisher
r = ScenePublisher(robot)
from hpp.corbaserver import ProblemSolver
ps = ProblemSolver(robot)
q_init = robot.getCurrentConfig()
q_goal = q_init[::]
q_init[0:2] = [-3.2, -4]
rank = robot.rankInConfiguration['torso_lift_joint']
q_init[rank] = 0.2
r(q_init)
q_goal[0:2] = [-3.2, -4]
rank = robot.rankInConfiguration['l_shoulder_lift_joint']
q_goal[rank] = 0.5
rank = robot.rankInConfiguration['l_elbow_flex_joint']
q_goal[rank] = -0.5
def __init__ (self, robotName, load = True, **kwargs):
Parent.__init__ (self, robotName, self.rootJointType, load, **kwargs)
def __init__(self, robotName, load=True):
Parent.__init__(self, robotName, "freeflyer", load)
self.tf_root = 'base_link' # le nom du tf_root est libre
def __init__(self, robotName, load=True):
Parent.__init__(self, robotName, "planar", load)
self.tf_root = 'world' # le nom du tf_root est libre
def __init__ (self, robotName, load = True): Parent.__init__ (self, robotName, self.rootJointType, load) self.tf_root = "base_footprint" self.client.basic = Client () self.load = load
def __init__ (self, robotName):
Parent.__init__ (self, robotName, "anchor", False)
self.tf_root = 'base_link' # le nom du tf_root est libre
self.rod = flectoClient().rod
def __init__ (self, robotName):
Parent.__init__ (self, robotName, "freeflyer")
self.tf_root = "Phantom"
def __init__ (self, robotName):
Parent.__init__ (self, robotName, "freeflyer")
self.tf_root = "base_link"
def __init__ (self, robotName, load = True):
Parent.__init__ (self, robotName, "freeflyer", load)
self.tf_root = 'base_link' # le nom du tf_root est libre
def __init__ (self, load = True):
Parent.__init__ (self, 'hrp2-irreducible', self.rootJointType, load)
def __init__ (self):
Parent.__init__ (self, self.urdfName, "freeflyer")
def __init__ (self, robotName, load = True, rootJointType = "anchor"):
Parent.__init__ (self, robotName, rootJointType, load)
self.rightWrist = "wrist_3_joint"
self.leftWrist = "wrist_3_joint"
self.endEffector = "ee_fixed_joint"
def __init__ (self, robotName, load = True):
Parent.__init__ (self, robotName, "freeflyer", load)
self.rightWrist = ""
self.leftWrist = ""
def __init__(self, robotName, load=True):
Parent.__init__(self, robotName, "freeflyer", load)
self.tf_root = "base_link"
