solo8_ISAE.py

import numpy as np
from utils.abstractRobotHal import RobotHAL


class Solo8(RobotHAL):
    ''' Define the hardware interface to solo8'''
 
    def __init__(self, interfaceName="", dt=0.001):
        RobotHAL.__init__(self, interfaceName, dt)

    def InitRobotSpecificParameters(self):
        ''' Definition of the Solo8 paramters '''
        # Robot specific constants***********
        self.nb_motors = 8

        self.motorToUrdf = [0, 1, 3, 2, 5, 4, 6, 7]
        self.gearRatio = np.array(self.nb_motors * [9.,])  # gearbox ratio
        self.motorKt = np.array(self.nb_motors * [0.025,])  # Nm/A

        self.motorSign = np.array([-1, -1, +1, +1, -1, -1, +1, +1])
        self.maximumCurrent = 3.0  # A
        # To get this offsets, run the calibration with self.encoderOffsets at 0,
        # then manualy move the robot in zero config, and paste the position here (note the negative sign!)
        self.encoderOffsets = - \
            np.array([1.660367, -2.610352,  2.866129,  1.009784,
                      0.620769, -1.710268,  2.117314,  -4.056512])
        #self.encoderOffsets *= 0.
        # ***********************************