Python Exoskeleton示例

示例#1

文件： MPC_test.py 项目： hksaperstein/ambf_walker

Kp[5, 5] = Kp_ankle
Kd[5, 5] = Kd_ankle

_client = Client()
_client.connect()
rate = rospy.Rate(1000)

joints = [
    'Hip-RobLeftThigh', 'RobLeftThigh-RobLeftShank',
    'RobLeftShank-RobLeftFoot', 'Hip-RobRightThigh',
    'RobRightThigh-RobRightShank', 'RobRightShank-RobRightFoot', 'Hip-Crutches'
]

#joints = ['Hip-Leftthigh', 'Leftthigh-Leftshank', 'Leftshank-Leftfoot', 'Hip-Rightthigh', 'Rightthigh-Rightshank', 'Rightshank-Rightfoot', 'Hip-Cylinder']

LARRE = Exoskeleton.Exoskeleton(_client, joints, 56, 1.56)
Dyn = DynController.DynController(LARRE, Kp, Kd)

mpc = MPCController.MPCController(LARRE, LARRE.get_runner())

# lqr = LQRController.LQRController(LARRE, LARRE.get_runner())
# controllers = {'Dyn': Dyn,
#                "LQR":lqr}

# lqr = LQRController.LQRController(LARRE, LARRE.get_runner())

FF = FeedForwardController.FeedForwardController(LARRE, Kp, Kd)

controllers = {'Dyn': Dyn, "MPC": mpc, "FF": FF}

cnrl = ControllerNode.ControllerNode(LARRE, controllers)

示例#2

#!/usr/bin/env python
import sys
from os import sys, path
sys.path.append(path.dirname(path.dirname(path.abspath(__file__))))

from ambf_walker.msg import DesiredJoints
from StateMachines import StateMachine
from Controller import ControllerNode
from Model import Exoskeleton
import rospy
from ambf_client import Client

_client = Client()
_client.connect()
rate = rospy.Rate(1000)
LARRE = Exoskeleton.Exoskeleton(_client, 56, 1.56)
cnrl = ControllerNode.ControllerNode(LARRE)
machine = StateMachine.ExoStateMachineTest(LARRE)

示例#3

Kp[4, 4] = Kp_knee
Kd[4, 4] = Kd_knee
Kp[5, 5] = Kp_ankle
Kd[5, 5] = Kd_ankle


_client = Client()
_client.connect()
rate = rospy.Rate(1000)

body_joints = ['HumanLeftHip', 'HumanLeftKnee', 'HumanLeftAnkle',
               'HumanRightHip', 'HumanRightKnee', 'HumanRightAnkle']

robot_joints = ['ExoLeftHip', 'ExoLeftKnee', 'ExoLeftAnkle', 'ExoRightHip', 'ExoRightKnee', 'ExoRightAnkle', 'ExoHipCrutches']
LARRY = Human.Human(_client, "human", body_joints, 0, 0)
LARRE = Exoskeleton.Exoskeleton(_client, "exo", robot_joints, 56, 1.56)
# LARRE.handle.set_rpy(0.25, 0, 0)
# LARRE.handle.set_pos(0, 0, 1.0)
Dyn = DynController.DynController(LARRE, Kp, Kd)

# chair_handle = _client.get_obj_handle('Chair')
# chair_handle.set_pos(0.0, 0.35, -0.55)
# chair_handle.set_rpy(0.0, 0.0, 0.0)
time.sleep(5)


#mpc = MPController.MPController(LARRE, LARRE.get_runner())


# lqr = LQRController.LQRController(LARRE, LARRE.get_runner())
# controllers = {'Dyn': Dyn,