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()
#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.urdfDir = 'package://romeo_description/urdf/'
self.urdfName = 'romeo_small.urdf'
self.OperationalPoints.append('waist')
self.OperationalPoints.append('chest')
self.device = device
# correct the name of the body link
self.dynamic = RosRobotModel("{0}_dynamic".format(name))
for i in self.jointMap:
self.dynamic.addJointMapping(i, self.jointMap[i])
self.dynamic.loadUrdf(self.urdfDir + self.urdfName)
# complete feet position (TODO: move it into srdf file)
ankle = self.dynamic.getAnklePositionInFootFrame()
self.ankleLength = 0.1935
self.ankleWidth = 0.121
self.dynamic.setFootParameters(True, self.ankleLength, self.ankleWidth,
ankle)
self.dynamic.setFootParameters(False, self.ankleLength,
self.ankleWidth, ankle)
# check half sitting size
self.dimension = self.dynamic.getDimension()
if self.dimension != len(self.halfSitting):
raise RuntimeError("invalid half-sitting pose")
self.initializeRobot()
def __init__(self, name,
device = None,
tracer = None):
AbstractHumanoidRobot.__init__ (self, name, tracer)
self.urdfDir = 'package://romeo_description/urdf/'
self.urdfName = 'romeo_small.urdf'
self.OperationalPoints.append('waist')
self.OperationalPoints.append('chest')
self.device = device
# correct the name of the body link
self.dynamic = RosRobotModel("{0}_dynamic".format(name))
for i in self.jointMap:
self.dynamic.addJointMapping(i, self.jointMap[i])
self.dynamic.loadUrdf(self.urdfDir + self.urdfName)
# complete feet position (TODO: move it into srdf file)
ankle =self.dynamic.getAnklePositionInFootFrame()
self.ankleLength = 0.1935
self.ankleWidth = 0.121
self.dynamic.setFootParameters(True , self.ankleLength, self.ankleWidth, ankle)
self.dynamic.setFootParameters(False, self.ankleLength, self.ankleWidth, ankle)
# check half sitting size
self.dimension = self.dynamic.getDimension()
if self.dimension != len(self.halfSitting):
raise RuntimeError("invalid half-sitting pose")
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):
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, filename):
AbstractHumanoidRobot.__init__(self, name)
self.OperationalPoints.append('waist')
p = Parser(self.name + '_dynamic', filename)
self.dynamic = p.parse()
self.dimension = self.dynamic.getDimension()
if self.dimension != len(self.halfSitting):
raise RuntimeError("invalid half-sitting pose")
self.initializeRobot()
self.compoundDrive = CompoundDrive(self.name + '_compoundDrive',
self.device)
self.compoundDriveTask = Task(self.name + '_compoundDriveTask')
self.compoundDriveTask.add(self.name + '_compoundDrive')
self.compoundDriveTask.signal('controlGain').value = 1.
def __init__(self,
name,
modelDir,
xmlDir,
device,
dynamicType,
tracer=None):
AbstractHumanoidRobot.__init__(self, name, tracer)
self.OperationalPoints.append('waist')
self.OperationalPoints.append('chest')
self.device = device
self.modelDir = modelDir
self.modelName = 'HRP2JRLmainsmall.wrl'
self.specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
self.jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
self.AdditionalFrames.append(
("accelerometer", matrixToTuple(self.accelerometerPosition),
"chest"))
self.AdditionalFrames.append(
("gyrometer", matrixToTuple(self.gyrometerPosition), "chest"))
self.AdditionalFrames.append(
("leftFootForceSensor", self.forceSensorInLeftAnkle, "left-ankle"))
self.AdditionalFrames.append(
("rightFootForceSensor", self.forceSensorInRightAnkle,
"right-ankle"))
self.dynamic = self.loadModelFromJrlDynamics(self.name + '_dynamic',
modelDir, self.modelName,
self.specificitiesPath,
self.jointRankPath,
dynamicType)
self.dimension = self.dynamic.getDimension()
self.plugVelocityFromDevice = True
if self.dimension != len(self.halfSitting):
raise RuntimeError(
"Dimension of half-sitting: {0} differs from dimension of robot: {1}"
.format(len(self.halfSitting), self.dimension))
self.initializeRobot()
def __init__(self, name, modelDir, xmlDir, device, dynamicType,
tracer = None):
AbstractHumanoidRobot.__init__ (self, name, tracer)
self.OperationalPoints.append('waist')
self.OperationalPoints.append('chest')
self.device = device
self.modelDir = modelDir
self.modelName = 'HRP2JRLmainsmall.wrl'
self.specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
self.jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
self.AdditionalFrames.append(
("accelerometer",
matrixToTuple(self.accelerometerPosition), "chest"))
self.AdditionalFrames.append(
("gyrometer",
matrixToTuple(self.gyrometerPosition), "chest"))
self.AdditionalFrames.append(
("leftFootForceSensor",
self.forceSensorInLeftAnkle, "left-ankle"))
self.AdditionalFrames.append(
("rightFootForceSensor",
self.forceSensorInRightAnkle, "right-ankle"))
self.dynamic = self.loadModelFromJrlDynamics(
self.name + '_dynamic',
modelDir,
self.modelName,
self.specificitiesPath,
self.jointRankPath,
dynamicType)
self.dimension = self.dynamic.getDimension()
self.plugVelocityFromDevice = True
if self.dimension != len(self.halfSitting):
raise RuntimeError("Dimension of half-sitting: {0} differs from dimension of robot: {1}".format (len(self.halfSitting), self.dimension))
self.initializeRobot()