def __init__(self, name, device = None, tracer = None):
AbstractMobileRobot.__init__ (self, name, tracer)
# add operational points
ip = (0,0,0,0,0,0.0022,0,-0.00012,0.00407,0.00345,0.001555,0.0007879)
self.OperationalPoints.append('base_joint')
self.OperationalPoints.append('arm_joint_1')
self.OperationalPoints.append('arm_joint_2')
self.OperationalPoints.append('arm_joint_3')
self.OperationalPoints.append('arm_joint_4')
self.OperationalPoints.append('arm_joint_5')
# device and dynamic model assignment
self.device = device
self.dynamic = RosRobotModel("{0}_dynamic".format(name))
# load model
self.dynamic.loadFromParameterServer()
self.dimension = self.dynamic.getDimension()
self.initPosition = ip
#self.initPosition = (0.,) * self.dimension
# initialize ur robot
self.initializeRobot()
def __init__(self, name, device = None, tracer = None):
AbstractMobileRobot.__init__ (self, name, tracer)
# add operational points
ip = (0.,0.,0.,0.,0.,0.,0.011,0.0,0.0,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.)
self.OperationalPoints.append('base_joint')
self.OperationalPoints.append('r_shoulder_pan_joint')
self.OperationalPoints.append('r_shoulder_lift_joint')
self.OperationalPoints.append('l_shoulder_pan_joint')
self.OperationalPoints.append('l_shoulder_lift_joint')
self.OperationalPoints.append('r_wrist_roll_joint')
self.OperationalPoints.append('l_wrist_roll_joint')
self.OperationalPoints.append('r_wrist_flex_joint')
self.OperationalPoints.append('l_wrist_flex_joint')
self.OperationalPoints.append('torso_lift_joint')
self.OperationalPoints.append('l_upper_arm_roll_joint')
self.OperationalPoints.append('r_upper_arm_roll_joint')
self.OperationalPoints.append('l_forearm_roll_joint')
self.OperationalPoints.append('r_forearm_roll_joint')
#self.OperationalPoints.append('l_forearm_flex_joint')
#self.OperationalPoints.append('r_forearm_flex_joint')
# self.OperationalPoints.append('arm_joint_2')
# self.OperationalPoints.append('arm_joint_3')
# self.OperationalPoints.append('arm_joint_4')
# self.OperationalPoints.append('arm_joint_5')
# device and dynamic model assignment
self.device = device
self.dynamic = RosRobotModel("{0}_dynamic".format(name))
# load model
self.dynamic.loadFromParameterServer()
self.dimension = self.dynamic.getDimension()
self.initPosition = ip
#self.initPosition = (0.,) * self.dimension
# initialize ur robot
self.initializeRobot()