def __init__(self, name=None, load=True): Parent.__init__(self, load) if load: self.loadFullBodyModel(self.urdfName, self.rootJointType, self.meshPackageName, self.packageName, self.urdfSuffix, self.srdfSuffix) if name != None: self.name = name
def __init__(self, name=None, load=True): Parent.__init__(self, load) if load: self.loadFullBodyModel(self.urdfName, self.rootJointType, self.meshPackageName, self.packageName, self.urdfSuffix, self.srdfSuffix) if name is not None: self.name = name self.joint1L_bounds_prev = self.getJointBounds('leg_left_1_joint') self.joint6L_bounds_prev = self.getJointBounds('leg_left_6_joint') self.joint2L_bounds_prev = self.getJointBounds('leg_left_2_joint') self.joint1R_bounds_prev = self.getJointBounds('leg_right_1_joint') self.joint6R_bounds_prev = self.getJointBounds('leg_right_6_joint') self.joint2R_bounds_prev = self.getJointBounds('leg_right_2_joint')
def __init__(self, name=None, load=True, client=None, clientRbprm=None): if name is not None: self.name = name Parent.__init__(self, self.name, self.rootJointType, load, client, None, clientRbprm) # Even though the bound in the urdf is greater than this values, # the controller do not tolerate values outside of this bounds self.setJointBounds("leg_left_5_joint", [-1.26, 0.768]) self.setJointBounds("leg_right_5_joint", [-1.26, 0.768]) # Save urdf values for the bounds that may be modified self.joint1L_bounds_prev = self.getJointBounds("leg_left_1_joint") self.joint6L_bounds_prev = self.getJointBounds("leg_left_6_joint") self.joint2L_bounds_prev = self.getJointBounds("leg_left_2_joint") self.joint1R_bounds_prev = self.getJointBounds("leg_right_1_joint") self.joint6R_bounds_prev = self.getJointBounds("leg_right_6_joint") self.joint2R_bounds_prev = self.getJointBounds("leg_right_2_joint")
def __init__(self, name=None, load=True, client=None, clientRbprm=None): if name is not None: self.name = name Parent.__init__(self, self.name, self.rootJointType, load, client, None, clientRbprm) # save original bounds of the urdf for futur reset self.FL_HAA_bounds = self.getJointBounds('FL_HAA') self.FL_HFE_bounds = self.getJointBounds('FL_HFE') self.FL_KFE_bounds = self.getJointBounds('FL_KFE') self.FR_HAA_bounds = self.getJointBounds('FR_HAA') self.FR_HFE_bounds = self.getJointBounds('FR_HFE') self.FR_KFE_bounds = self.getJointBounds('FR_KFE') self.HL_HAA_bounds = self.getJointBounds('HL_HAA') self.HL_HFE_bounds = self.getJointBounds('HL_HFE') self.HL_KFE_bounds = self.getJointBounds('HL_KFE') self.HR_HAA_bounds = self.getJointBounds('HR_HAA') self.HR_HFE_bounds = self.getJointBounds('HR_HFE') self.HR_KFE_bounds = self.getJointBounds('HR_KFE')
def __init__(self, name=None, load=True, client=None, clientRbprm=None): if name is not None: self.name = name Parent.__init__(self, self.name, self.rootJointType, load, client, None, clientRbprm)
def __init__ (self, name = None,load = True): Parent.__init__ (self,load) if load: self.loadFullBodyModel(self.urdfName, self.rootJointType, self.meshPackageName, self.packageName, self.urdfSuffix, self.srdfSuffix) if name != None: self.name = name