From 1974fbbe381baccd7f6e98e1c333f45d7e178ca9 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 10 Feb 2011 18:21:47 +0100
Subject: [PATCH] Split class Hrp2 into two classes Hrp2Laas and Hrp2Jrl.
---
src/dynamic_graph/sot/dynamics/hrp2.py.in | 74 +++++++++++++++--------
1 file changed, 49 insertions(+), 25 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
index 784d9c4..ddcb960 100755
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py.in
@@ -32,17 +32,37 @@ hrp2_14_pkgdatarootdir = "@HRP2_14_PKGDATAROOTDIR@"
class Hrp2(AbstractHumanoidRobot):
"""
- This class instanciates a simple humanoid robot with
+ This class instanciates a Hrp2 robot
"""
+ def smallToFull(self, config):
+ res = (config + 10*(0.,))
+ return res
+
+ def __init__(self, name, modelDir, xmlDir):
+ AbstractHumanoidRobot.__init__ (self, name)
+
+ modelName = 'HRP2JRLmainsmall.wrl'
+ specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
+ jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
+
+ self.dynamic = DynamicHrp2(self.name + '.dynamics')
+ self.dynamic.setFiles(modelDir, modelName,
+ specificitiesPath, jointRankPath)
+ self.dynamic.parse()
+ self.dimension = self.dynamic.getDimension()
+ if self.dimension != len(self.halfSitting):
+ raise RunTimeError("invalid half-sitting pose")
+ self.initializeRobot()
+class Hrp2Jrl (Hrp2):
+ """
+ This class instanciates LAAS Hrp2 robot
+ """
halfSitting = (
# Free flyer
0., 0., 0., 0., 0. , 0.,
# Legs
-# 0., 0., -1.04720, 2.09440, -1.04720, 0.,
-# 0., 0., -1.04720, 2.09440, -1.04720, 0.,
-
0., 0., -0.453786, 0.872665, -0.418879, 0.,
0., 0., -0.453786, 0.872665, -0.418879, 0.,
@@ -50,32 +70,36 @@ class Hrp2(AbstractHumanoidRobot):
0., 0., 0., 0.,
# Arms
-# 0.17453, -0.17453, -0.17453, -0.87266, 0., 0., 0.1,
-# 0.17453, 0.17453, 0.17453, -0.87266, 0., 0., 0.1
+ 0.261799, -0.17453, 0., -0.523599, 0., 0., 0.1, 0.261799
+ 0.261799, 0.17453, 0., -0.523599, 0., 0., 0.1, 0.261799
+ )
+ def __init__(self, name,
+ modelDir = hrp2_10_pkgdatarootdir,
+ xmlDir = hrp2_10_pkgdatarootdir):
+ Hrp2.__init__(self, modelDir, xmlDir)
+
+class Hrp2Laas (Hrp2):
+ """
+ This class instanciates LAAS Hrp2 robot
+ """
+ halfSitting = (
+ # Free flyer
+ 0., 0., 0., 0., 0. , 0.,
+
+ # Legs
+ 0., 0., -0.453786, 0.872665, -0.418879, 0.,
+ 0., 0., -0.453786, 0.872665, -0.418879, 0.,
+
+ # Chest and head
+ 0., 0., 0., 0.,
+
+ # Arms
0.261799, -0.17453, 0., -0.523599, 0., 0., 0.1,
0.261799, 0.17453, 0., -0.523599, 0., 0., 0.1,
)
- def smallToFull(self, config):
- res = (config + 10*(0.,))
- return res
-
def __init__(self, name,
- simulation,
modelDir = hrp2_14_pkgdatarootdir,
xmlDir = hrp2_14_pkgdatarootdir):
- AbstractHumanoidRobot.__init__ (self, name, simulation)
-
- modelName = 'HRP2JRLmainsmall.wrl'
- specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
- jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
-
- self.dynamic = DynamicHrp2(self.name + '.dynamics')
- self.dynamic.setFiles(modelDir, modelName,
- specificitiesPath, jointRankPath)
- self.dynamic.parse()
- self.dimension = self.dynamic.getDimension()
- if self.dimension != len(self.halfSitting):
- raise "invalid half-sitting pose"
- self.initializeRobot()
+ Hrp2.__init__(self, modelDir, xmlDir)
--
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