Python joint_angles_tの例

コード例 #1

ファイル: robotposegui.py プロジェクト: caomw/director

def publishPostureGoal(joints, postureName, channel='POSTURE_GOAL'):
    '''
    Given a dict mapping joint name strings to joint positions, creates a
    joint_angles_t LCM message and publishes the result on the given channel name.
    '''
    msg = lcmbotcore.joint_angles_t()
    msg.utime = getUtime()
    for name, position in joints.iteritems():
        msg.joint_name.append(name)
        msg.joint_position.append(position)
    msg.num_joints = len(msg.joint_name)
    lcmWrapper.publish(channel, msg)
    lcmWrapper.publish('POSTURE_GOAL_CANNED', msg)

    publishSystemStatus('sending posture goal: ' + postureName)

コード例 #2

def publishPostureGoal(joints, postureName, channel="POSTURE_GOAL"):
    """
    Given a dict mapping joint name strings to joint positions, creates a
    joint_angles_t LCM message and publishes the result on the given channel name.
    """
    msg = lcmbotcore.joint_angles_t()
    msg.utime = getUtime()
    for name, position in joints.iteritems():
        msg.joint_name.append(name)
        msg.joint_position.append(position)
    msg.num_joints = len(msg.joint_name)
    lcmWrapper.publish(channel, msg)
    lcmWrapper.publish("POSTURE_GOAL_CANNED", msg)

    publishSystemStatus("sending posture goal: " + postureName)

コード例 #3

    def setNeckPitch(neckPitchDegrees):
        assert neckPitchDegrees <= 90 and neckPitchDegrees >= -90

        jointGroups = drcargs.getDirectorConfig()['teleopJointGroups']
        jointGroupNeck = filter(lambda group: group['name'] == 'Neck',
                                jointGroups)
        if (len(jointGroupNeck) == 1):
            neckJoints = jointGroupNeck[0]['joints']
        else:
            return

        # Assume first neck joint is the pitch joint
        m = lcmbotcore.joint_angles_t()
        m.utime = getUtime()
        m.num_joints = 1
        m.joint_name = [neckJoints[0]]
        m.joint_position = [math.radians(neckPitchDegrees)]
        lcmUtils.publish('DESIRED_NECK_ANGLES', m)

コード例 #4

    def setNeckPitch(neckPitchDegrees):
        assert neckPitchDegrees <= 90 and neckPitchDegrees >= -90

        jointGroups = drcargs.getDirectorConfig()['teleopJointGroups']
        jointGroupNeck = filter(lambda group: group['name'] == 'Neck', jointGroups)

        neckJoints = jointGroupNeck[0]['joints']
        if (len(neckJoints) == 1): # Atlas
            jointPositions = [math.radians(neckPitchDegrees)]
        elif (len(neckJoints) == 3): # Valkyrie, assuming joint 0 is lowerNeckPitch
            jointPositions = [math.radians(neckPitchDegrees), 0, 0]
        else:
            return

        # Assume first neck joint is the pitch joint
        m = lcmbotcore.joint_angles_t()
        m.utime = getUtime()
        m.num_joints = len(neckJoints)
        m.joint_name = neckJoints
        m.joint_position = jointPositions
        lcmUtils.publish('DESIRED_NECK_ANGLES', m)

コード例 #5

ファイル: perception.py プロジェクト: RobotLocomotion/director

    def setNeckPitch(neckPitchDegrees):
        assert neckPitchDegrees <= 90 and neckPitchDegrees >= -90

        jointGroups = drcargs.getDirectorConfig()['teleopJointGroups']
        jointGroupNeck = filter(lambda group: group['name'] == 'Neck', jointGroups)

        neckJoints = jointGroupNeck[0]['joints']
        if (len(neckJoints) == 1): # Atlas
            jointPositions = [math.radians(neckPitchDegrees)]
        elif (len(neckJoints) == 3): # Valkyrie, assuming joint 0 is lowerNeckPitch
            jointPositions = [math.radians(neckPitchDegrees), 0, 0]
        else:
            return

        # Assume first neck joint is the pitch joint
        m = lcmbotcore.joint_angles_t()
        m.utime = getUtime()
        m.num_joints = len(neckJoints)
        m.joint_name = neckJoints
        m.joint_position = jointPositions
        lcmUtils.publish('DESIRED_NECK_ANGLES', m)

コード例 #6

ファイル: close-hand.py プロジェクト: assassinLX/openhumanoids_valkyrie_translator

#!/usr/bin/env python

import lcm
import bot_core as lcmbotcore
import time
import sys
import numpy as np

myLCM = lcm.LCM()

percentage_closed = float(sys.argv[1])

msg = lcmbotcore.joint_angles_t()
msg.joint_name = [
    "leftIndexFingerMotorPitch1", "leftMiddleFingerMotorPitch1",
    "leftPinkyMotorPitch1", "leftThumbMotorPitch1", "leftThumbMotorPitch2"
]  #, "leftThumbMotorRoll"]
msg.num_joints = len(msg.joint_name)
grasp_map = np.array([1.0, 1.0, 1.0, 1.0, 1.0])  #, 1.0 ])
msg.joint_position = grasp_map * percentage_closed
#msg.joint_position[5] = 1.0

myLCM.publish("DESIRED_HAND_ANGLES", msg.encode())

コード例 #7

ファイル: send-neck-command.py プロジェクト: rdeits/valkyrie_translator

#!/usr/bin/env python

import lcm
import bot_core as lcmbotcore
import time
import sys

myLCM = lcm.LCM()

msg = lcmbotcore.joint_angles_t()
msg.joint_name = ["lowerNeckPitch", "neckYaw", "upperNeckPitch"]
msg.num_joints = len(msg.joint_name)
msg.joint_position = [0] * len(msg.joint_name)

msg.joint_position[0] = float(sys.argv[1])
msg.joint_position[1] = float(sys.argv[2])
msg.joint_position[2] = float(sys.argv[3])

myLCM.publish("DESIRED_NECK_ANGLES", msg.encode())