appli_feet_admittance.py File Reference

Go to the source code of this file.

Namespaces
	sot_talos_balance.test.appli_feet_admittance

Variables
	admBF_dqSaturation
	admBF_Kp
	admLF
	admRF
	base_estimator
	cdc_estimator = DcmEstimator("cdc_estimator")
	cm
	cm_conf
	comControl = operator.Multiply_of_vector("comControl")
	comErr = operator.Substract_of_vector("comErr")
	comTrajGen
	contactLF
	contactRF
	controller = AdmittanceControllerEndEffector("admLF")
	data_type
	device_filters
	distribute = SimpleDistributeWrench("distribute")
	dt = robot.timeStep
	dvdt
	e2q = EulerToQuat("e2q")
	estimator = DummyDcmEstimator("dummy")
	feature
	forceControl = operator.Add_of_vector("forceControl")
	ftc
float	g = 9.81
	h = robot.dynamic.com.value[2]
	imu_filters
	keepWaist
list	Kp_com = [0.0] * 2 + [4.0]
	lfToMatrix
	lfTrajGen
	mass = robot.dynamic.data.mass[0]
	omega = sqrt(g / h)
	param_server
	publisher
	q = list(robot.dynamic.position.value)
	rdynamic
	rf = SimpleReferenceFrame("rf")
	rfToMatrix
	rfTrajGen
	robot
string	robot_name = "robot"
	robotDim = robot.dynamic.getDimension()
	sot
	stf = StateTransformation("stf")
	taskCom
	taskUpperBody
	timeStep
	tracer
	value
	wp = DummyWalkingPatternGenerator("dummy_wp")
	wrenchControl = operator.Mix_of_vector("wrenchControl")
	zmp_estimator = SimpleZmpEstimator("zmpEst")