modified move_robot.py
This commit is contained in:
Jonas
@@ -18,33 +18,47 @@ def main(robotIP, PORT=9559):
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# Wake up robot
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motionProxy.wakeUp()
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# set the stiffnes
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motionProxy.setStiffnesses("Head", 1.0)
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motionProxy.setStiffnesses("RHand", 1.0)
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motionProxy.setStiffnesses("LHand", 1.0)
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motionProxy.setStiffnesses("LShoulderPitch", 1.0)
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motionProxy.setStiffnesses("LShoulderRoll", 1.0)
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motionProxy.setStiffnesses("LElbowRoll", 1.0)
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motionProxy.setStiffnesses("LWristYaw", 1.0)
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motionProxy.setStiffnesses("LElbowYaw", 1.0)
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motionProxy.setStiffnesses("LHipYawPitch", 1.0)
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motionProxy.setStiffnesses("LHipPitch", 1.0)
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motionProxy.setStiffnesses("LKneePitch", 1.0)
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motionProxy.setStiffnesses("LAnklePitch", 1.0)
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motionProxy.setStiffnesses("LHipRoll", 1.0)
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motionProxy.setStiffnesses("LAnkleRoll", 1.0)
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handStiffness=0.0;
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# shoulder and elbow
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armStiffness = 0.0;
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# head
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headStiffness = 0.9;
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# hip
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hipStiffness = 0.9;
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# knee
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kneeStiffness = 0.9;
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# ankle
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ankleStiffness = 0.9;
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# set the stiffnes
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motionProxy.setStiffnesses("Head", headStiffness)
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motionProxy.setStiffnesses("RHand", handStiffness)
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motionProxy.setStiffnesses("LHand", handStiffness)
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motionProxy.setStiffnesses("LShoulderPitch", armStiffness)
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motionProxy.setStiffnesses("LShoulderRoll", armStiffness)
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motionProxy.setStiffnesses("LElbowRoll", armStiffness)
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motionProxy.setStiffnesses("LWristYaw", handStiffness)
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motionProxy.setStiffnesses("LElbowYaw", armStiffness)
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motionProxy.setStiffnesses("LHipYawPitch", hipStiffness)
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motionProxy.setStiffnesses("LHipPitch", hipStiffness)
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motionProxy.setStiffnesses("LKneePitch", kneeStiffness)
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motionProxy.setStiffnesses("LAnklePitch", ankleStiffness)
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motionProxy.setStiffnesses("LHipRoll", hipStiffness)
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motionProxy.setStiffnesses("LAnkleRoll", ankleStiffness)
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motionProxy.setStiffnesses("RShoulderPitch", armStiffness)
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motionProxy.setStiffnesses("RShoulderRoll", armStiffness)
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motionProxy.setStiffnesses("RElbowRoll", armStiffness)
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motionProxy.setStiffnesses("RWristYaw", handStiffness)
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motionProxy.setStiffnesses("RElbowYaw", armStiffness)
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motionProxy.setStiffnesses("RHipYawPitch", hipStiffness)
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motionProxy.setStiffnesses("RHipPitch", hipStiffness)
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motionProxy.setStiffnesses("RKneePitch", kneeStiffness)
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motionProxy.setStiffnesses("RAnklePitch", ankleStiffness)
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motionProxy.setStiffnesses("RHipRoll", hipStiffness)
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motionProxy.setStiffnesses("RAnkleRoll", ankleStiffness)
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motionProxy.setStiffnesses("RShoulderPitch", 1.0)
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motionProxy.setStiffnesses("RShoulderRoll", 1.0)
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motionProxy.setStiffnesses("RElbowRoll", 1.0)
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motionProxy.setStiffnesses("RWristYaw", 1.0)
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motionProxy.setStiffnesses("RElbowYaw", 1.0)
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motionProxy.setStiffnesses("RHipYawPitch", 1.0)
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motionProxy.setStiffnesses("RHipPitch", 1.0)
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motionProxy.setStiffnesses("RKneePitch", 1.0)
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motionProxy.setStiffnesses("RAnklePitch", 1.0)
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motionProxy.setStiffnesses("RHipRoll", 1.0)
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motionProxy.setStiffnesses("RAnkleRoll", 1.0)
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# Send robot to Stand Init
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postureProxy.goToPosture("StandInit", 0.5)
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@@ -54,7 +68,7 @@ def main(robotIP, PORT=9559):
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# First call of move API
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# with post prefix to not be bloquing here.
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motionProxy.post.moveTo(-0.3, 0.0, 0)
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motionProxy.post.moveTo(0, 0.0, 0)
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# wait that the move process start running
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time.sleep(0.1)
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@@ -74,70 +88,47 @@ def main(robotIP, PORT=9559):
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print str(errorMsg)
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PLOT_ALLOW = False
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while True:
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cmd = int(raw_input(">"))
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# Second call of move API
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motionProxy.post.moveTo(0.3, 0.0, 0)
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# get the second foot steps vector
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footSteps2 = []
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try:
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footSteps2 = motionProxy.getFootSteps()
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except Exception, errorMsg:
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print str(errorMsg)
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PLOT_ALLOW = False
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# end experiment, begin compute
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motionProxy.post.moveTo(3, 0, 0)
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# here we wait until the move process is over
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motionProxy.waitUntilMoveIsFinished()
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# then we get the final robot position
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robotPositionFinal = almath.Pose2D(motionProxy.getRobotPosition(False))
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# compute robot Move with the second call of move API
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# so between nextRobotPosition and robotPositionFinal
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robotMove = almath.pose2DInverse(nextRobotPosition)*robotPositionFinal
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print "Robot Move:", robotMove
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# get robotPosition and nextRobotPosition
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useSensors = False
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robotPosition = almath.Pose2D(motionProxy.getRobotPosition(useSensors))
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nextRobotPosition = almath.Pose2D(motionProxy.getNextRobotPosition())
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# get the first foot steps vector
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# (footPosition, unChangeable and changeable steps)
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footSteps1 = []
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try:
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footSteps1 = motionProxy.getFootSteps()
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except Exception, errorMsg:
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print str(errorMsg)
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PLOT_ALLOW = False
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'''
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# Second call of move API
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motionProxy.post.moveTo(-0.3, 0.0, 0)
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# get the second foot steps vector
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footSteps2 = []
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try:
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footSteps2 = motionProxy.getFootSteps()
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except Exception, errorMsg:
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print str(errorMsg)
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PLOT_ALLOW = False
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# end experiment, begin compute
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motionProxy.post.moveTo(1.5, 0, 0)
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# here we wait until the move process is over
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motionProxy.waitUntilMoveIsFinished()
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# then we get the final robot position
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robotPositionFinal = almath.Pose2D(motionProxy.getRobotPosition(False))
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# compute robot Move with the second call of move API
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# so between nextRobotPosition and robotPositionFinal
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robotMove = almath.pose2DInverse(nextRobotPosition)*robotPositionFinal
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print "Robot Move:", robotMove
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# Second call of move API
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motionProxy.post.moveTo(0, -1.5, 0)
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# here we wait until the move process is over
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motionProxy.waitUntilMoveIsFinished()
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# Second call of move API
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motionProxy.post.moveTo(-1.5, 0, 0)
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# here we wait until the move process is over
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motionProxy.waitUntilMoveIsFinished()
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'''
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# Second call of move API
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# motionProxy.post.moveTo(0, 3, 0)
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# here we wait until the move process is over
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# motionProxy.waitUntilMoveIsFinished()
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# Go to rest position
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motionProxy.rest()
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#motionProxy.rest()
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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