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import time | ||
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import FramesViewer.utils as fv_utils | ||
import numpy as np | ||
from reachy_sdk import ReachySDK | ||
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from pollen_manipulation.reachy.reachability import is_pose_reachable, read_angle_limits | ||
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reachy = ReachySDK("172.16.0.32") | ||
angle_limits = read_angle_limits(reachy) | ||
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while True: | ||
pose = reachy.r_arm.forward_kinematics() | ||
print(is_pose_reachable(pose, reachy, angle_limits, is_left_arm=False)) |
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[metadata] | ||
name = example | ||
name = pollen-manipulation | ||
version = 0.1.0 | ||
author = Pollen Robotics | ||
author_email = [email protected] | ||
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@@ -17,6 +17,8 @@ package_dir= | |
=src | ||
install_requires = | ||
numpy==1.25.1 | ||
reachy-sdk==0.7.0 | ||
PyYAML==6.0.1 | ||
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[options.packages.find] | ||
where=src | ||
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left_arm_advanced: | ||
l_shoulder_fan: | ||
fan: | ||
id: 20 | ||
l_shoulder_pitch: | ||
dxl_motor: | ||
type: MX-106 | ||
id: 20 | ||
offset: 1.57 | ||
cw_angle_limit: -1.05 | ||
ccw_angle_limit: 3.14 | ||
l_shoulder_roll: | ||
dxl_motor: | ||
type: MX-106 | ||
id: 21 | ||
offset: -1.57 | ||
direct: False | ||
cw_angle_limit: -1.57 | ||
ccw_angle_limit: 1.75 | ||
l_arm_yaw: | ||
dxl_motor: | ||
type: MX-64 | ||
id: 22 | ||
direct: False | ||
cw_angle_limit: -1.57 | ||
ccw_angle_limit: 1.57 | ||
l_elbow_fan: | ||
fan: | ||
id: 23 | ||
l_elbow_pitch: | ||
dxl_motor: | ||
type: MX-106 | ||
id: 23 | ||
direct: False | ||
cw_angle_limit: 0.0 | ||
ccw_angle_limit: 2.18 | ||
l_forearm_yaw: | ||
dxl_motor: | ||
type: MX-28 | ||
id: 24 | ||
direct: False | ||
cw_angle_limit: -1.75 | ||
ccw_angle_limit: 1.75 | ||
l_wrist_fan: | ||
fan: | ||
id: 25 | ||
l_wrist_pitch: | ||
dxl_motor: | ||
type: MX-28 | ||
id: 25 | ||
direct: False | ||
cw_angle_limit: -0.79 | ||
ccw_angle_limit: 0.79 | ||
l_wrist_roll: | ||
dxl_motor: | ||
type: AX-18 | ||
id: 26 | ||
direct: False | ||
cw_angle_limit: -0.61 | ||
ccw_angle_limit: 0.95 | ||
l_gripper: | ||
dxl_motor: | ||
type: AX-18 | ||
id: 27 | ||
cw_angle_limit: -1.70 | ||
ccw_angle_limit: 0.90 | ||
reduction: -2 | ||
l_force_gripper: | ||
force_sensor: | ||
id: 20 |
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right_arm_advanced: | ||
r_shoulder_fan: | ||
fan: | ||
id: 10 | ||
r_shoulder_pitch: | ||
dxl_motor: | ||
type: MX-106 | ||
id: 10 | ||
offset: 1.57 | ||
direct: False | ||
cw_angle_limit: -3.14 | ||
ccw_angle_limit: 1.05 | ||
r_shoulder_roll: | ||
dxl_motor: | ||
type: MX-106 | ||
id: 11 | ||
offset: 1.57 | ||
direct: False | ||
cw_angle_limit: -1.75 | ||
ccw_angle_limit: 1.57 | ||
r_arm_yaw: | ||
dxl_motor: | ||
type: MX-64 | ||
id: 12 | ||
direct: False | ||
cw_angle_limit: -1.57 | ||
ccw_angle_limit: 1.57 | ||
r_elbow_fan: | ||
fan: | ||
id: 13 | ||
r_elbow_pitch: | ||
dxl_motor: | ||
type: MX-106 | ||
id: 13 | ||
direct: False | ||
cw_angle_limit: 0.0 | ||
ccw_angle_limit: 2.18 | ||
r_forearm_yaw: | ||
dxl_motor: | ||
type: MX-28 | ||
id: 14 | ||
direct: False | ||
cw_angle_limit: -1.75 | ||
ccw_angle_limit: 1.75 | ||
r_wrist_fan: | ||
fan: | ||
id: 15 | ||
r_wrist_pitch: | ||
dxl_motor: | ||
type: MX-28 | ||
id: 15 | ||
direct: False | ||
cw_angle_limit: -0.79 | ||
ccw_angle_limit: 0.79 | ||
r_wrist_roll: | ||
dxl_motor: | ||
type: AX-18 | ||
id: 16 | ||
direct: False | ||
cw_angle_limit: -0.95 | ||
ccw_angle_limit: 0.61 | ||
r_gripper: | ||
dxl_motor: | ||
type: AX-18 | ||
id: 17 | ||
cw_angle_limit: -0.90 | ||
ccw_angle_limit: 1.70 | ||
reduction: -2 | ||
r_force_gripper: | ||
force_sensor: | ||
id: 10 |
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