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()