def __init__(self, compositeName, robotName, load=True):
Parent.__init__(self, compositeName, robotName, self.rootJointType,
load)
self.rightAnkle = robotName + "/leg_right_6_joint"
self.leftAnkle = robotName + "/leg_left_6_joint"
self.rightWrist = robotName + "/arm_right_7_joint"
self.leftWrist = robotName + "/arm_left_7_joint"
def __init__ (self, compositeName, robotName, load = True,
rootJointType = "planar"):
Parent.__init__ (self, compositeName, robotName, rootJointType, load)
self.tf_root = "base_footprint"
self.halfSitting = self.getCurrentConfig ()
for j, v in self.halfSittingDict.iteritems ():
index = self.rankInConfiguration [robotName + "/" + j]
self.halfSitting [index] = v
def __init__(self,
compositeName,
robotName,
load=True,
rootJointType="planar",
**kwargs):
Parent.__init__(self, compositeName, robotName, rootJointType, load,
**kwargs)
def __init__(self,
compositeName,
robotName,
load=True,
rootJointType=rootJointType):
Parent.__init__(self, compositeName, robotName, rootJointType, load)
self.rightWrist = "wrist_3_joint"
self.leftWrist = "wrist_3_joint"
self.endEffector = "ee_fixed_joint"
def __init__(self,
compositeName,
robotName,
load=True,
rootJointType="anchor",
**kwargs):
Parent.__init__(self, compositeName, robotName, rootJointType, load,
**kwargs)
self.tf_root = "base_footprint"
def __init__ (self, compositeName, robotName):
Parent.__init__ (self, compositeName, robotName, self.rootJointType)
hs = self.halfSitting.copy ()
for joint, value in hs.iteritems ():
self.halfSitting [self.displayName + "/" + joint] = value
self.rightWrist = self.displayName + "/RARM_JOINT5"
self.leftWrist = self.displayName + "/LARM_JOINT5"
self.rightAnkle = self.displayName + "/RLEG_JOINT5"
self.leftAnkle = self.displayName + "/LLEG_JOINT5"
self.waist = self.displayName + "/base_joint_SO3"
self.chest = self.displayName + "/CHEST_JOINT1"
self.gaze = self.displayName + "/HEAD_JOINT1"
def __init__(
self, compositeName, robotName, load=True, rootJointType="planar", **kwargs
):
"""
Constructor
\\param compositeName name of the composite robot that will be built later,
\\param robotName name of the first robot that is loaded now,
\\param load whether to actually load urdf files. Set to no if you only
want to initialize a corba client to an already initialized
problem.
\\param rootJointType type of root joint among ("freeflyer", "planar",
"anchor"),
"""
Parent.__init__(self, compositeName, robotName, rootJointType, load, **kwargs)
def __init__ (self, compositeName, robotName, load = True,
rootJointType = "anchor"):
Parent.__init__ (self, compositeName, robotName, rootJointType, load)
self.tf_root = "base_footprint"
def __init__ (self, compositeName, robotName, load = True,
rootJointType = "planar", **kwargs):
Parent.__init__ (self, compositeName, robotName, rootJointType, load, **kwargs)
def __init__ (self, compositeName, robotName, load = True,
rootJointType = "planar"):
Parent.__init__ (self, compositeName, robotName, rootJointType, load)
self.tf_root = "base_footprint"
def __init__ (self, compositeName, robotName, load = True,
rootJointType = rootJointType):
Parent.__init__ (self, compositeName, robotName, rootJointType, load)
self.rightWrist = "wrist_3_joint"
self.leftWrist = "wrist_3_joint"
self.endEffector = "ee_fixed_joint"
def __init__(self, agentName):
print 'initialising a HyQ agent'
Robot.__init__(self, 'meta', agentName, "planar")
