def send_stuff(t): print "Sending State %d" % (t) o = atlas_state_t() o.utime = t o.num_joints = 30 o.joint_position = [0] * o.num_joints o.joint_position[1] = 0.10 o.joint_position[2] = -0.1 o.joint_position[3] = -0.1 # neck o.joint_position[6] = -1.60 o.joint_position[7] = 1.55 o.joint_position[12] = -1.6 o.joint_position[13] = 1.55 # larm o.joint_position[16] = -np.pi / 4 o.joint_position[18] = np.pi / 2 o.joint_position[19] = np.pi / 4 o.joint_position[24] = np.pi / 2 o.joint_position[25] = np.pi / 2 o.joint_position[26] = -np.pi / 2 o.joint_position[28] = -np.pi / 5 # o.joint_position[24] = np.pi/2 # o.joint_position[25] = np.pi/4 o.joint_velocity = [0] * o.num_joints o.joint_effort = [0] * o.num_joints lc.publish("ATLAS_STATE", o.encode())
#!/usr/bin/python import os,sys home_dir =os.getenv("DRC_BASE") #print home_dir sys.path.append(home_dir + "/software/build/lib/python2.7/site-packages") sys.path.append(home_dir + "/software/build/lib/python2.7/dist-packages") import lcm from drc.atlas_state_t import atlas_state_t from drc.force_torque_t import force_torque_t import time msg = atlas_state_t() # todo: use bot time: msg.utime = 0 #msg.desired_controller_period_ms = 0 #struct atlas_state_t #{ # int64_t utime; msg.num_joints =28 msg.joint_name =["null"]*msg.num_joints msg.joint_position = [0]*msg.num_joints msg.joint_velocity = [0]*msg.num_joints msg.joint_effort = [0]*msg.num_joints ft_msg = force_torque_t() msg.force_torque = ft_msg
#!/usr/bin/python import os, sys home_dir = os.getenv("DRC_BASE") #print home_dir sys.path.append(home_dir + "/software/build/lib/python2.7/site-packages") sys.path.append(home_dir + "/software/build/lib/python2.7/dist-packages") import lcm from drc.atlas_state_t import atlas_state_t from drc.force_torque_t import force_torque_t import time msg = atlas_state_t() # todo: use bot time: msg.utime = 0 #msg.desired_controller_period_ms = 0 #struct atlas_state_t #{ # int64_t utime; msg.num_joints = 28 msg.joint_name = ["null"] * msg.num_joints msg.joint_position = [0] * msg.num_joints msg.joint_velocity = [0] * msg.num_joints msg.joint_effort = [0] * msg.num_joints ft_msg = force_torque_t() msg.force_torque = ft_msg # Neck Angle Offset Function: # at add