Python atlas_state_t Examples

Example #1

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

def send_stuff(t):
    print "Sending State %d" % (t)
    o = atlas_state_t()
    o.utime = t

    o.num_joints = 30
    o.joint_position = [0] * o.num_joints
    o.joint_position[1] = 0.10
    o.joint_position[2] = -0.1
    o.joint_position[3] = -0.1  # neck

    o.joint_position[6] = -1.60
    o.joint_position[7] = 1.55
    o.joint_position[12] = -1.6
    o.joint_position[13] = 1.55

    # larm
    o.joint_position[16] = -np.pi / 4
    o.joint_position[18] = np.pi / 2
    o.joint_position[19] = np.pi / 4

    o.joint_position[24] = np.pi / 2
    o.joint_position[25] = np.pi / 2
    o.joint_position[26] = -np.pi / 2
    o.joint_position[28] = -np.pi / 5
    #  o.joint_position[24] =  np.pi/2
    #  o.joint_position[25] =  np.pi/4

    o.joint_velocity = [0] * o.num_joints
    o.joint_effort = [0] * o.num_joints
    lc.publish("ATLAS_STATE", o.encode())

Example #2

def send_stuff(t):
    print "Sending State %d" % (t)
    o = atlas_state_t()
    o.utime = t

    o.num_joints = 30
    o.joint_position = [0] * o.num_joints
    o.joint_position[1] = 0.10
    o.joint_position[2] = -0.1
    o.joint_position[3] = -0.1  # neck

    o.joint_position[6] = -1.60
    o.joint_position[7] = 1.55
    o.joint_position[12] = -1.6
    o.joint_position[13] = 1.55

    # larm
    o.joint_position[16] = -np.pi / 4
    o.joint_position[18] = np.pi / 2
    o.joint_position[19] = np.pi / 4

    o.joint_position[24] = np.pi / 2
    o.joint_position[25] = np.pi / 2
    o.joint_position[26] = -np.pi / 2
    o.joint_position[28] = -np.pi / 5
    #  o.joint_position[24] =  np.pi/2
    #  o.joint_position[25] =  np.pi/4

    o.joint_velocity = [0] * o.num_joints
    o.joint_effort = [0] * o.num_joints
    lc.publish("ATLAS_STATE", o.encode())

Example #3

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

#!/usr/bin/python
import os,sys
home_dir =os.getenv("DRC_BASE")
#print home_dir
sys.path.append(home_dir + "/software/build/lib/python2.7/site-packages")
sys.path.append(home_dir + "/software/build/lib/python2.7/dist-packages")

import lcm
from drc.atlas_state_t import atlas_state_t
from drc.force_torque_t import force_torque_t
import time

msg = atlas_state_t()
# todo: use bot time:
msg.utime = 0
#msg.desired_controller_period_ms = 0



#struct atlas_state_t
#{
#  int64_t utime;

msg.num_joints =28
msg.joint_name =["null"]*msg.num_joints
msg.joint_position = [0]*msg.num_joints
msg.joint_velocity = [0]*msg.num_joints
msg.joint_effort = [0]*msg.num_joints
ft_msg = force_torque_t()
msg.force_torque = ft_msg

Example #4

File: send_a_joint_offset_msg.py Project: yushuiqiang/oh-distro

#!/usr/bin/python
import os, sys
home_dir = os.getenv("DRC_BASE")
#print home_dir
sys.path.append(home_dir + "/software/build/lib/python2.7/site-packages")
sys.path.append(home_dir + "/software/build/lib/python2.7/dist-packages")

import lcm
from drc.atlas_state_t import atlas_state_t
from drc.force_torque_t import force_torque_t
import time

msg = atlas_state_t()
# todo: use bot time:
msg.utime = 0
#msg.desired_controller_period_ms = 0

#struct atlas_state_t
#{
#  int64_t utime;

msg.num_joints = 28
msg.joint_name = ["null"] * msg.num_joints
msg.joint_position = [0] * msg.num_joints
msg.joint_velocity = [0] * msg.num_joints
msg.joint_effort = [0] * msg.num_joints
ft_msg = force_torque_t()
msg.force_torque = ft_msg

# Neck Angle Offset Function:
# at          add