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fkanehiro / hrpsys-base

Basic RT components and utilities to control robots using OpenRTM
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Sample zmp value in playPattern #1072

Open 130s opened 8 years ago

130s commented 8 years ago

From https://github.com/tork-a/rtmros_nextage/issues/275#issue-189539044 by @shzargar

First, is this command is working for QNX hrpsys version 315.1.8 and if yes what is zmp list? if it is not working what is the option for moving all joints (no matter in which group ther are located) together?

robot.playPattern?
Type:       instancemethod
String Form:<bound method NextageClient.playPattern of <nextage_ros_bridge.nextage_client.NextageClient object at 0x7fdc274e6650>>
File:       /opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py
Definition: robot.playPattern(self, jointangles, rpy, zmp, tm)
Docstring:
!@brief
Play motion pattern using a given trajectory that is represented by 
a list of joint angles, rpy, zmp and time.

@param jointangles list of list of float: 
                   The whole list represents a trajectory. Each element
                   of the 1st degree in the list consists of the joint
                   angles.
@param rpy list of float: Orientation in rpy.
@param zmp list of float: TODO: description
@param tm float: Time to complete the task.
@return bool:

I've never used this method so am not sure what values to be used. If someone could guide us here (and possibly update the api doc too) that'll be appreciated.

k-okada commented 8 years ago

https://github.com/fkanehiro/hrpsys-base/blob/master/rtc/SequencePlayer/seqplay.cpp#L252 tells that you can use empty list for rpy/zmp

◉ Kei Okada

2016-11-16 11:55 GMT+09:00 Isaac I.Y. Saito notifications@github.com:

From tork-a/rtmros_nextage#275 (comment) https://github.com/tork-a/rtmros_nextage/issues/275#issue-189539044 by @shzargar https://github.com/shzargar

First, is this command is working for QNX hrpsys version 315.1.8 and if yes what is zmp list? if it is not working what is the option for moving all joints (no matter in which group ther are located) together?

robot.playPattern? Type: instancemethod String Form:<bound method NextageClient.playPattern of <nextage_ros_bridge.nextage_client.NextageClient object at 0x7fdc274e6650>> File: /opt/ros/indigo/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py Definition: robot.playPattern(self, jointangles, rpy, zmp, tm) Docstring: !@brief Play motion pattern using a given trajectory that is represented by a list of joint angles, rpy, zmp and time.

@param jointangles list of list of float: The whole list represents a trajectory. Each element of the 1st degree in the list consists of the joint angles. @param rpy list of float: Orientation in rpy. @param zmp list of float: TODO: description @param tm float: Time to complete the task. @return bool:

I've never used this method so am not sure what values to be used. If someone could guide us here (and possibly update the api doc too) that'll be appreciated.

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