def __init__(self, name=None, load=True):
Parent.__init__(self, load)
if load:
self.loadFullBodyModel(self.urdfName, self.rootJointType,
self.meshPackageName, self.packageName,
self.urdfSuffix, self.srdfSuffix)
if name != None:
self.name = name
def __init__(self, name=None, load=True):
Parent.__init__(self, load)
if load:
self.loadFullBodyModel(self.urdfName, self.rootJointType,
self.meshPackageName, self.packageName,
self.urdfSuffix, self.srdfSuffix)
if name is not None:
self.name = name
self.joint1L_bounds_prev = self.getJointBounds('leg_left_1_joint')
self.joint6L_bounds_prev = self.getJointBounds('leg_left_6_joint')
self.joint2L_bounds_prev = self.getJointBounds('leg_left_2_joint')
self.joint1R_bounds_prev = self.getJointBounds('leg_right_1_joint')
self.joint6R_bounds_prev = self.getJointBounds('leg_right_6_joint')
self.joint2R_bounds_prev = self.getJointBounds('leg_right_2_joint')
def __init__(self, name=None, load=True, client=None, clientRbprm=None):
if name is not None:
self.name = name
Parent.__init__(self, self.name, self.rootJointType, load, client,
None, clientRbprm)
# Even though the bound in the urdf is greater than this values,
# the controller do not tolerate values outside of this bounds
self.setJointBounds("leg_left_5_joint", [-1.26, 0.768])
self.setJointBounds("leg_right_5_joint", [-1.26, 0.768])
# Save urdf values for the bounds that may be modified
self.joint1L_bounds_prev = self.getJointBounds("leg_left_1_joint")
self.joint6L_bounds_prev = self.getJointBounds("leg_left_6_joint")
self.joint2L_bounds_prev = self.getJointBounds("leg_left_2_joint")
self.joint1R_bounds_prev = self.getJointBounds("leg_right_1_joint")
self.joint6R_bounds_prev = self.getJointBounds("leg_right_6_joint")
self.joint2R_bounds_prev = self.getJointBounds("leg_right_2_joint")
def __init__(self, name=None, load=True, client=None, clientRbprm=None):
if name is not None:
self.name = name
Parent.__init__(self, self.name, self.rootJointType, load, client, None, clientRbprm)
# save original bounds of the urdf for futur reset
self.FL_HAA_bounds = self.getJointBounds('FL_HAA')
self.FL_HFE_bounds = self.getJointBounds('FL_HFE')
self.FL_KFE_bounds = self.getJointBounds('FL_KFE')
self.FR_HAA_bounds = self.getJointBounds('FR_HAA')
self.FR_HFE_bounds = self.getJointBounds('FR_HFE')
self.FR_KFE_bounds = self.getJointBounds('FR_KFE')
self.HL_HAA_bounds = self.getJointBounds('HL_HAA')
self.HL_HFE_bounds = self.getJointBounds('HL_HFE')
self.HL_KFE_bounds = self.getJointBounds('HL_KFE')
self.HR_HAA_bounds = self.getJointBounds('HR_HAA')
self.HR_HFE_bounds = self.getJointBounds('HR_HFE')
self.HR_KFE_bounds = self.getJointBounds('HR_KFE')
def __init__(self, name=None, load=True, client=None, clientRbprm=None):
if name is not None:
self.name = name
Parent.__init__(self, self.name, self.rootJointType, load, client,
None, clientRbprm)
def __init__ (self, name = None,load = True):
Parent.__init__ (self,load)
if load:
self.loadFullBodyModel(self.urdfName, self.rootJointType, self.meshPackageName, self.packageName, self.urdfSuffix, self.srdfSuffix)
if name != None:
self.name = name
