Commit 25d5b3cf authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[python] Initialization script for new device scheme.

parent ab6263d4
Pipeline #3038 failed with stages
in 59 seconds
......@@ -67,13 +67,35 @@ class Hrp2(AbstractHumanoidRobot):
def __init__(self, name, robotnumber,
device = None, tracer = None):
rospack = RosPack()
self.urdfPath = rospack.get_path('hrp2_{0}_description'.format(robotnumber)) + '/urdf/hrp2_{0}_reduced.urdf'.format(robotnumber)
self.pinocchioModel = se3.buildModelFromUrdf(self.urdfPath, se3.JointModelFreeFlyer())
self.pinocchioData = self.pinocchioModel.createData()
self.dynamic.setModel(self.pinocchioModel)
self.dynamic.setData(self.pinocchioData)
self.dimension = self.dynamic.getDimension()
# TODO For position limit, we remove the first value to get
# a vector of the good size because SoT use euler angles and not
# quaternions...
self.device.setPositionBounds (
self.pinocchioModel.lowerPositionLimit.T.tolist()[0][1:],
self.pinocchioModel.upperPositionLimit.T.tolist()[0][1:])
self.device.setVelocityBounds (
(-self.pinocchioModel.velocityLimit).T.tolist()[0],
self.pinocchioModel.velocityLimit .T.tolist()[0])
self.device.setTorqueBounds (
(-self.pinocchioModel.effortLimit).T.tolist()[0],
self.pinocchioModel.effortLimit .T.tolist()[0])
AbstractHumanoidRobot.__init__ (self, name, tracer)
self.OperationalPoints.append('waist')
self.OperationalPoints.append('chest')
self.device = device
self.device.resize(self.dynamic.getDimension())
self.AdditionalFrames.append(
("accelerometer",
matrixToTuple(self.accelerometerPosition), "chest"))
......@@ -98,14 +120,6 @@ class Hrp2(AbstractHumanoidRobot):
rospack = RosPack()
self.urdfPath = rospack.get_path('hrp2_{0}_description'.format(robotnumber)) + '/urdf/hrp2_{0}_reduced.urdf'.format(robotnumber)
self.pinocchioModel = se3.buildModelFromUrdf(self.urdfPath, se3.JointModelFreeFlyer())
self.pinocchioData = self.pinocchioModel.createData()
self.dynamic.setModel(self.pinocchioModel)
self.dynamic.setData(self.pinocchioData)
self.dimension = self.dynamic.getDimension()
self.plugVelocityFromDevice = True
if self.dimension != len(self.halfSitting):
raise RuntimeError("Dimension of half-sitting: {0} differs from dimension of robot: {1}".format (len(self.halfSitting), self.dimension))
......
# -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
#
......
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