python-motor-control.py

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/**
 * @ingroup icub_tutorials
 *
 * \defgroup icub_python_motor_interfaces Using motor interfaces with Python
 *
 * Shows how to control the robot using motor interfaces within Python.
 *
 * \author Lorenzo Natale
 * 
 * CopyPolicy: Released under the terms of GPL 2.0 or later
 */ 
 
import yarp;
yarp.Network.init();
 
# prepare a property object
props = yarp.Property()
props.put("device","remote_controlboard")
props.put("local","/client/right_arm")
props.put("remote","/icubSim/right_arm")
 
# create remote driver
armDriver = yarp.PolyDriver(props)
 
#query motor control interfaces
iPos = armDriver.viewIPositionControl()
iVel = armDriver.viewIVelocityControl()
iEnc = armDriver.viewIEncoders()
 
#retrieve number of joints
jnts=iPos.getAxes()
 
print 'Controlling', jnts, 'joints'
 
# read encoders
encs=yarp.Vector(jnts)
iEnc.getEncoders(encs.data())
 
 
home=yarp.Vector(jnts, encs.data())
 
#initialize a new tmp vector identical to encs
tmp=yarp.Vector(jnts)
 
 
tmp.set(0, tmp.get(0)+10)
tmp.set(1, tmp.get(1)+10)
tmp.set(2, tmp.get(2)+10)
tmp.set(3, tmp.get(3)+10)
 
iPos.positionMove(tmp.data())
 
 
iPos.positionMove(encs.data())