コード例 #1
0
ファイル: robot.py プロジェクト: nemogiftsun/sot_robot
    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()        
コード例 #2
0
ファイル: robot.py プロジェクト: nemogiftsun/sot_robot
    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()