class Pr2(AbstractRobot):
"""
This class instanciates a Pr2 robot.
"""
OperationalPoints = ['right-wrist','left-wrist','waist','gaze','chest','left-ankle']
SpecialLinks = ['BODY', 'l_wrist', 'r_wrist', 'l_gripper', 'r_gripper', 'gaze','torso','l_ankle']
SpecialNames = ['base_link', 'l_wrist_roll_link', 'r_wrist_roll_link', 'l_gripper_palm_link', 'r_gripper_palm_link', 'head_tilt_link','torso_lift_link','base_link']
tracedSignals = {
'dynamic': ["com", "position", "velocity", "acceleration"],
'device': ['control', 'state']
}
def specifySpecialLinks(self):
if len(self.SpecialLinks) == len(self.SpecialNames):
for i in range(0,len(self.SpecialLinks)):
self.dynamic.addJointMapping(self.SpecialLinks[i], self.SpecialNames[i])
else:
print 'No Special joints added : SpecialLinks.size != SpecialJoints.size'
def __init__(self, name, device = None, tracer = None):
AbstractRobot.__init__ (self, name, tracer)
self.device = device
self.dynamic = RosSotRobotModel("{0}_dynamic".format(name))
self.specifySpecialLinks()
self.dynamic.loadFromParameterServer()
self.dimension = self.dynamic.getDimension()
self.halfSitting = (0.,) * self.dimension
self.initializeRobot()
def __init__(self, name, device=None, tracer=None, ns='sot_controller'):
AbstractHumanoidRobot.__init__(self, name, tracer)
self.device = device
self.dynamic = RosSotRobotModel("{0}_dynamic".format(name))
self.dynamic.setNamespace(ns)
self.dynamic.loadFromParameterServer()
self.halfSitting = self.dynamic.curConf()
self.dimension = self.dynamic.getDimension()
self.initializeRobot()
def __init__(self, name, device=None, tracer=None, ns='sot_controller'):
AbstractHumanoidRobot.__init__ (self, name, tracer)
self.device = device
self.dynamic = RosSotRobotModel("{0}_dynamic".format(name))
self.dynamic.setNamespace(ns)
self.dynamic.loadFromParameterServer()
self.halfSitting = self.dynamic.curConf()
self.dimension = self.dynamic.getDimension()
self.initializeRobot()
def __init__(self, name, device = None, tracer = None):
AbstractRobot.__init__ (self, name, tracer)
self.device = device
self.dynamic = RosSotRobotModel("{0}_dynamic".format(name))
self.specifySpecialLinks()
self.dynamic.loadFromParameterServer()
self.dimension = self.dynamic.getDimension()
self.halfSitting = (0.,) * self.dimension
self.initializeRobot()
class RobotBuilder(AbstractHumanoidRobot):
"""
This class instanciates a robot.
"""
#OperationalPoints = ['right-wrist','left-wrist','waist','right-ankle','left-ankle']
#OperationalPoints = ['right-wrist','left-wrist','waist','gaze']
tracedSignals = {
'dynamic': ["com", "zmp", "position", "velocity", "acceleration"],
'device': ['zmp', 'control', 'state']
}
def __init__(self, name, device=None, tracer=None, ns='sot_controller'):
AbstractHumanoidRobot.__init__ (self, name, tracer)
self.device = device
self.dynamic = RosSotRobotModel("{0}_dynamic".format(name))
self.dynamic.setNamespace(ns)
self.dynamic.loadFromParameterServer()
self.halfSitting = self.dynamic.curConf()
self.dimension = self.dynamic.getDimension()
self.initializeRobot()
class RobotBuilder(AbstractHumanoidRobot):
"""
This class instanciates a robot.
"""
#OperationalPoints = ['right-wrist','left-wrist','waist','right-ankle','left-ankle']
#OperationalPoints = ['right-wrist','left-wrist','waist','gaze']
tracedSignals = {
'dynamic': ["com", "zmp", "position", "velocity", "acceleration"],
'device': ['zmp', 'control', 'state']
}
def __init__(self, name, device=None, tracer=None, ns='sot_controller'):
AbstractHumanoidRobot.__init__(self, name, tracer)
self.device = device
self.dynamic = RosSotRobotModel("{0}_dynamic".format(name))
self.dynamic.setNamespace(ns)
self.dynamic.loadFromParameterServer()
self.halfSitting = self.dynamic.curConf()
self.dimension = self.dynamic.getDimension()
self.initializeRobot()
pg.parseCmd(":armparameters 0.5")
pg.parseCmd(":LimitsFeasibility 0.0")
pg.parseCmd(":ZMPShiftParameters 0.015 0.015 0.015 0.015")
pg.parseCmd(":TimeDistributeParameters 2.0 3.5 1.0 3.0")
pg.parseCmd(":UpperBodyMotionParameters 0.0 -0.5 0.0")
pg.parseCmd(":comheight 0.814")
pg.parseCmd(":SetAlgoForZmpTrajectory Morisawa")
plug(robot.dynamic.position,pg.position)
plug(robot.dynamic.com,pg.com)
pg.motorcontrol.value = robot.dynamic.getDimension()*(0,)
pg.zmppreviouscontroller.value = (0,0,0)
pg.initState()
geom = RosSotRobotModel('geom')
geom.setNamespace('sot_controller')
geom.loadFromParameterServer()
geom.createOpPoint('rf','right-ankle')
geom.createOpPoint('lf','left-ankle')
plug(robot.dynamic.position,geom.position)
geom.ffposition.value = 6*(0,)
geom.velocity.value = robot.dynamic.getDimension()*(0,)
geom.acceleration.value = robot.dynamic.getDimension()*(0,)
comRef = Selector('comRef',['vector','ref',robot.dynamic.com,pg.comref])
plug(pg.inprocess,comRef.selec)
selecSupportFoot = Selector('selecSupportFoot',['matrixHomo','pg_H_sf',pg.rightfootref,pg.leftfootref],['matrixHomo','wa_H_sf',geom.rf,geom.lf])
pg.parseCmd(":armparameters 0.5")
pg.parseCmd(":LimitsFeasibility 0.0")
pg.parseCmd(":ZMPShiftParameters 0.015 0.015 0.015 0.015")
pg.parseCmd(":TimeDistributeParameters 2.0 3.5 1.0 3.0")
pg.parseCmd(":UpperBodyMotionParameters 0.0 -0.5 0.0")
pg.parseCmd(":comheight 0.814")
pg.parseCmd(":SetAlgoForZmpTrajectory Morisawa")
plug(robot.dynamic.position, pg.position)
plug(robot.dynamic.com, pg.com)
pg.motorcontrol.value = robot.dynamic.getDimension() * (0, )
pg.zmppreviouscontroller.value = (0, 0, 0)
pg.initState()
geom = RosSotRobotModel('geom')
geom.setNamespace('sot_controller')
geom.loadFromParameterServer()
geom.createOpPoint('rf', 'right-ankle')
geom.createOpPoint('lf', 'left-ankle')
plug(robot.dynamic.position, geom.position)
geom.ffposition.value = 6 * (0, )
geom.velocity.value = robot.dynamic.getDimension() * (0, )
geom.acceleration.value = robot.dynamic.getDimension() * (0, )
comRef = Selector('comRef', ['vector', 'ref', robot.dynamic.com, pg.comref])
plug(pg.inprocess, comRef.selec)
selecSupportFoot = Selector(
'selecSupportFoot',
