def __init__(self, obj, parent=None):
"""
Constructor method.
Receives the reference to the Blender object.
"""
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
RobotGrasper.__init__(self, obj, parent)
"""
We define here the name of the pr2 grasping hand:
"""
self.hand_name = 'Hand.Grasp.PR2'
self.armatures = []
# Search armatures and torso in all objects parented to the pr2 empty
for obj in self.bge_object.childrenRecursive:
# Check if obj is an armature
if type(obj).__name__ == 'BL_ArmatureObject':
self.armatures.append(obj.name)
if obj.name == 'torso_lift_joint':
self.torso = obj
# constant that holds the original height of the torso from the ground
# These values come from the pr2 urdf file
self.TORSO_BASE_HEIGHT = (0.739675 + 0.051)
self.TORSO_LOWER = 0.0 # lower limit on the torso z-translantion
self.TORSO_UPPER = 0.31 # upper limit on the torso z-translation
logger.info('Component initialized')
def __init__(self, obj, parent=None):
"""
Constructor method.
Receives the reference to the Blender object.
"""
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
RobotGrasper.__init__(self, obj, parent)
"""
We define here the name of the pr2 grasping hand:
"""
self.hand_name = 'Hand.Grasp.PR2'
self.armatures = []
# Search armatures and torso in all objects parented to the pr2 empty
for obj in self.bge_object.childrenRecursive:
# Check if obj is an armature
if type(obj).__name__ == 'BL_ArmatureObject':
self.armatures.append(obj.name)
if obj.name == 'torso_lift_joint':
self.torso = obj
# constant that holds the original height of the torso from the ground
# These values come from the pr2 urdf file
self.TORSO_BASE_HEIGHT = (0.739675 + 0.051)
self.TORSO_LOWER = 0.0 # lower limit on the torso z-translantion
self.TORSO_UPPER = 0.31 # upper limit on the torso z-translation
logger.info('Component initialized')
def __init__(self, obj, parent=None):
# Call the constructor of the parent class
logger.info('%s initialization' % obj.name)
RobotGrasper.__init__(self, obj, parent)
"""
We define here the name of the pr2 grasping hand:
"""
self.hand_name = 'Hand_Grab.R'
logger.info('Component initialized')
def __init__(self, obj, parent=None):
# Call the constructor of the parent class
logger.info('%s initialization' % obj.name)
RobotGrasper.__init__(self, obj, parent)
"""
We define here the name of the pr2 grasping hand:
"""
self.hand_name = 'Hand_Grab.R'
logger.info('Component initialized')
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
Optionally it gets the name of the object's parent,
but that information is not currently used for a robot. """
# Call the constructor of the parent class
logger.info('%s initialization' % obj.name)
RobotGrasper.__init__(self, obj, parent)
"""
We define here the name of the human_mocap grasping hand.
"""
self.hand_name = 'Hand_Grab.R'
logger.info('Component initialized')
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
Optionally it gets the name of the object's parent,
but that information is not currently used for a robot. """
# Call the constructor of the parent class
logger.info('%s initialization' % obj.name)
RobotGrasper.__init__(self, obj, parent)
"""
We define here the name of the human_mocap grasping hand.
"""
self.hand_name = 'Hand_Grab.R'
logger.info('Component initialized')
