Python behavior_foot_data_t Examples

Example #1

File: footsteps.py Project: openhumanoids/oh-distro

 def to_bdi_foot_data(self):
     foot_data = atlas.behavior_foot_data_t()
     # foot_data.position = self.to_atlas_frame(self.pos)[:3]
     foot_data.position = self.pos[:3]
     foot_data.yaw = self.pos[5]
     foot_data.normal = ut.rpy2rotmat(self.pos[3:]).dot(np.array([0, 0, 1]))
     return foot_data

Example #2

 def to_bdi_foot_data(self):
     foot_data = atlas.behavior_foot_data_t()
     # foot_data.position = self.to_atlas_frame(self.pos)[:3]
     foot_data.position = self.pos[:3]
     foot_data.yaw = self.pos[5]
     foot_data.normal = ut.rpy2rotmat(self.pos[3:]).dot(np.array([0, 0, 1]))
     return foot_data

Example #3

def blank_walk_spec():
    msg = atlas.behavior_walk_spec_t()
    msg.foot = atlas.behavior_foot_data_t()
    msg.action = atlas.behavior_walk_action_t()
    return msg

Example #4

File: translator.py Project: Gastd/oh-distro

def blank_walk_spec():
    msg = atlas.behavior_walk_spec_t()
    msg.foot = atlas.behavior_foot_data_t()
    msg.action = atlas.behavior_walk_action_t()
    return msg