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]
