Fixing vel naming (WPI-AIM#78)

* calculates the joint velcoty and dt * added smoother to joint vel * working on accel * calculates the joint velcoty and dt * added smoother to joint vel * working on accel * removed accel stuff * fixed merge * enlarged vel window size * added joint vel * fixed the models * fixed errors with accessing * added func to set all joint torques * switched to sim_time * reverted files * removed blocking call in the callback and added in window size * fixed small things * reset object file * changed the naming in rigid body updating the naming of the function to be uniform * fixes name of the get_linear_vel fnt Co-authored-by: Nathaniel Goldfarb <[email protected]> Co-authored-by: nathaniel <[email protected]>
TzeLun · Jul 1, 2020 · 8b01873 · 8b01873
1 parent 7b0be4c
commit 8b01873
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diff --git a/ambf_ros_modules/ambf_comm/scripts/ambf_rigid_body.py b/ambf_ros_modules/ambf_comm/scripts/ambf_rigid_body.py
@@ -77,14 +77,14 @@ def is_joint_idx_valid(self, joint_idx):
                   '\" outside valid range [0 - ' + str(n_jnts - 1) + ']')
             return False
 
-    def get_linear_velocity(self):
+    def get_linear_vel(self):
         """
         Get the linear velocity of this body
         :return:
         """
         return self._state.twist.linear
 
-    def get_angular_velocity(self):
+    def get_angular_vel(self):
         """
         Get the angular velocity of this body
         :return:
@@ -159,7 +159,7 @@ def get_all_joint_pos(self):
 
         return positions
 
-    def get_all_joint_velocities(self):
+    def get_all_joint_vel(self):
         """
                 Get the joint velocities of a specific joint at idx. Check joint names to see indexes
                 :param idx:

diff --git a/ambf_utilities/ambf_addon b/ambf_utilities/ambf_addon