Robotology
how to find contact force between the hand and the grasped object in icub simulator using python
#593
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here is my code yarp.Network.fini()
RightArm=yarp.Port()
RightArm.open('/python/RightArm')
yarp.Network.connect('/icubSim/right_arm','/python/RightArm')
prepare a property object
armOptions = yarp.Property()
armOptions.put('device','remote_controlboard')
armOptions.put('local','/client/right_arm')
armOptions.put('remote','/icubSim/right_arm')
create remote driver
armDriver = yarp.PolyDriver(armOptions)
#query motor control interfacesarmPos = armDriver.viewIPositionControl()
armPos = armDriver.viewIPositionControl()
armEncs = armDriver.viewIEncoders()
retrieve the number of joints
jntsArm=armPos.getAxes()
tmp=yarp.Vector(jntsArm)
a=[180, 10, 0, 10, 60, 40, 0, 40, 0, 0, 0, 0, 0, 0, 0, 0, 90]
for i in range(0,17):
sigma=15.0
xrange=np.arange(0, 300, 50)
center=(tmp.get(i)+a[i])
tmp.set(i, center)
gaussianResp=gaussian1D_bank(center,sigma,xrange)
inport.read(bottle)
print("Received ", bottle.toString())
yarp.delay(5) |
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Answered by
pattacini
Aug 23, 2022
Replies: 2 comments 8 replies
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Hi @ArfnZl Given that we don't provide this feature with our official Gazebo-based simulator yet, although there's already some ongoing work, I'd assume you're referring to our old Therefore, please peruse this documentation: You'll be able to come up with a bunch of data provided through YARP ports1, which conveys the information about contacts happening at the hand skin taxels. Try this out first. Then, we can provide you with further information about the mapping. Footnotes
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1 reply
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ok thanks sir i try it |
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Answer selected by
pattacini
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hello sir i am already using toch sensors in my thesis its only giving values 0 and 255..i want to take values of pressure sensores when i cub hand is grasped of different objects..i am using this code of pressure sensors import yarp define portssensor = yarp.Port() |
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7 replies
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Hi @pattacini |
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Hi @jimingda https://github.com/robotology-playground/community-593 is no longer functional as we removed the old |
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Thanks @pattacini |
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Actually what i want to do is to sense the contact between tactile skin of fingers(thumb index & middle) and the steer in the gazebo.
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Hi @jimingda There's been lots of work in the direction of integrating skin sensing within Gazebo, but unfortunately nothing official has landed on the main repos yet. I can point you at a bunch of resources to let you figure out what's cooking under the hood, although it'll take some time before we can deliver something useful:
You may want to poke around and check if you can use some of these codebases yourself. cc @traversaro |
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Hi @ArfnZl
Given that we don't provide this feature with our official Gazebo-based simulator yet, although there's already some ongoing work, I'd assume you're referring to our old
iCub_SIM.Therefore, please peruse this documentation:
You'll be able to come up with a bunch of data provided through YARP ports1, which conveys the information about contacts happening at the hand skin taxels.
Try this out first. Then, we can provide you with further information about the mapping.
Footnotes
You can find some examples of how to retrieve data in Python from YARP ports at https://github.com/robotology/yarp/tree/master/bindings/python/…