appli_waistControl.py File Reference

Go to the source code of this file.

Namespaces
	sot_talos_balance.test.appli_waistControl

Variables
	base_estimator
	baseselec
	cdc_estimator = DcmEstimator("cdc_estimator")
	cm
	cm_conf
	comTrajGen
	contactLF
	contactRF
	CTRL_MAX
	data_type
	device_filters
	dt = robot.timeStep
	dvdt
	e2q = EulerToQuat("e2q")
	estimator = DummyDcmEstimator("dummy")
	feature
	ftc
float	g = 9.81
	h = robot.dynamic.com.value[2]
	imu_filters
	keepWaist
	lfToMatrix
	lfTrajGen
	m2qLF
	m2qRF
	mass = robot.dynamic.data.mass[0]
	omega = sqrt(g / h)
	param_server
	publisher
	q = list(robot.dynamic.position.value)
	rdynamic
	rfToMatrix
	rfTrajGen
	rhoScalar
	rhoTrajGen
	robot
string	robot_name = "robot"
	robotDim = robot.dynamic.getDimension()
	sot
	taskCom
	— COM height robot.taskComH = MetaTaskKineCom(robot.dynamic, name='comH') plug(robot.wp.comDes,robot.taskComH.featureDes.errorIN) robot.taskComH.task.controlGain.value = 100. More...
	taskUpperBody
	timeStep
	value
	waistMix
	waistToMatrix
	waistTrajGen
	wp = DummyWalkingPatternGenerator("dummy_wp")
	zmp_estimator = SimpleZmpEstimator("zmpEst")