Python force_torque_t Examples

Example #1

File: drc_utils.py Project: LCM-projects/drc_core_utils

def getRobotStateMsg():
  msg = robot_state_t()
  msg.utime = timestamp_now ()
  
  ft = force_torque_t()
  msg.pose = getPoseMsg()
  msg.twist = getTwistMsg()
  msg.force_torque = ft

  msg.num_joints = 28
  msg.joint_position = [0]*28
  msg.joint_velocity = [0]*28
  msg.joint_effort = [0]*28

  msg.joint_name = ['back_bkz', 'back_bky', 'back_bkx', 'neck_ay', 'l_leg_hpz', 'l_leg_hpx',\
                    'l_leg_hpy', 'l_leg_kny', 'l_leg_aky', 'l_leg_akx', 'r_leg_hpz', 'r_leg_hpx',\
                    'r_leg_hpy', 'r_leg_kny', 'r_leg_aky', 'r_leg_akx', 'l_arm_usy', 'l_arm_shx',\
                    'l_arm_ely',      'l_arm_elx', 'l_arm_uwy', 'l_arm_mwx', 'r_arm_usy', 'r_arm_shx',\
                    'r_arm_ely', 'r_arm_elx', 'r_arm_uwy', 'r_arm_mwx']
  return msg  

Example #2

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

# 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
# 0.36512     0.012
# 0.53969     0.012
# 0.71423     0.012
# 0.88868     0.006
# 1.06337     0.000
# 1.15035     -0.0075

j_body = [0, 0, 0, 0.0]
j_l_leg = [0, 0, 0, 0, 0, 0]
j_r_leg = [0, 0, 0, 0, 0, 0]
j_l_arm = [0, 0, 0, 0, 0, 0]

Example #3

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

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
# 0.36512     0.012
# 0.53969     0.012
# 0.71423     0.012
# 0.88868     0.006
# 1.06337     0.000
# 1.15035     -0.0075

j_body = [0, 0, 0, 0.0]
j_l_leg = [0, 0, 0, 0, 0, 0]
j_r_leg = [0, 0, 0, 0, 0, 0]
j_l_arm = [0, 0, 0, 0, 0, 0]