def __init__(self, name, device=None, tracer=None):
AbstractHumanoidRobot.__init__(self, name, tracer)
self.device = device
self.dynamic = RosRobotModel("{0}_dynamic".format(name))
self.specifySpecialLinks()
#Note: the param 'robot_description' should be defined before the next instruction
self.dynamic.loadFromParameterServer()
self.dimension = self.dynamic.getDimension()
self.halfSitting = (0., ) * self.dimension
lst = list(self.halfSitting)
lst[24] = -0.33
lst[26] = -0.47
lst[39] = -0.33
lst[41] = -0.47
self.halfSitting = tuple(lst)
# correct the initialization of the dynamic.
self.dynamic.velocity.value = self.dimension * (0., )
self.dynamic.acceleration.value = self.dimension * (0., )
self.dynamic.ffposition.unplug()
self.dynamic.ffvelocity.unplug()
self.dynamic.ffacceleration.unplug()
self.dynamic.setProperty('ComputeBackwardDynamics', 'true')
self.dynamic.setProperty('ComputeAccelerationCoM', 'true')
self.initializeRobot()
def __init__(self, name, device=None, tracer=None):
AbstractHumanoidRobot.__init__(self, name, tracer)
self.device = device
self.dynamic = RosRobotModel("{0}_dynamic".format(name))
#self.specifySpecialLinks()
self.dynamic.loadFromParameterServer()
self.dimension = self.dynamic.getDimension()
self.initializeUrRobot()
def __init__(self, name, device=None, tracer=None):
AbstractMobileRobot.__init__(self, name, tracer)
# add operational points
self.OperationalPoints.append('waist')
self.OperationalPoints.append('arm_joint_5')
self.OperationalPoints.append('base_joint')
# device and dynamic model assignment
self.device = device
self.dynamic = RosRobotModel("{0}_dynamic".format(name))
# load model
self.dynamic.loadFromParameterServer()
self.dimension = self.dynamic.getDimension()
self.initPosition = (0., ) * self.dimension
# initialize ur robot
self.initializeRobot()
"""
signal = '{0}.{1}'.format(entityName, signalName)
filename = '{0}-{1}'.format(entityName, signalName)
trace.add(signal, filename)
if autoRecompute:
device.after.addSignal(signal)
I4 = (
(1., 0, 0, 0),
(0, 1., 0, 0),
(0, 0, 1., 0),
(0, 0, 0, 1.),
)
model = RosRobotModel('ur5_dynamic')
device = RobotSimu('ur5_device')
rospy.init_node('fake')
model.loadUrdf(
"file:///local/ngiftsun/devel/ros/catkin_ws/src/ur_description/urdf/ur5_robot.urdf"
)
dimension = model.getDimension()
device.resize(dimension)
plug(device.state, model.position)
# Set velocity and acceleration to 0
model.velocity.value = dimension * (0., )
model.acceleration.value = dimension * (0., )
