def apply_limits(self, robot): (lower, upper) = self.get_rad_limits() for name in self.limit_table.joints.keys(): n = mapping.oh_from_ha(name) j = robot.GetJoint(n) if j is not None: j.SetLimits([lower[name]], [upper[name]])
def apply_limits(self,robot): (lower,upper)=self.get_rad_limits() for name in self.limit_table.joints.keys(): n=mapping.oh_from_ha(name) j=robot.GetJoint(n) if j is not None: j.SetLimits([lower[name]],[upper[name]])
def apply_limits_to_urdf(self, model): (lower, upper) = self.get_rad_limits() for name in self.limit_table.joints.keys(): n = mapping.oh_from_ha(name) if n is not None: if not model.joints.has_key(name): n = mapping.oh_from_ha(name) else: n = name if model.joints.has_key(n): j = model.joints[n] if j.limits is not None: model.joints[n].limits.lower = lower[name] model.joints[n].limits.upper = upper[name] else: j.limits = JointLimit(25, 2 * pi, lower[name], upper[name]) else: print "Match not found for name {}".format(name) print model.joints[name]
def apply_limits_to_urdf(self,model): (lower,upper)=self.get_rad_limits() for name in self.limit_table.joints.keys(): n=mapping.oh_from_ha(name) if n is not None: if not model.joints.has_key(name): n=mapping.oh_from_ha(name) else: n=name if model.joints.has_key(n): j=model.joints[n] if j.limits is not None: model.joints[n].limits.lower=lower[name] model.joints[n].limits.upper=upper[name] else: j.limits=JointLimit(25,2*pi,lower[name],upper[name]) else: print "Match not found for name {}".format(name) print model.joints[name]