sot_talos_balance.create_entities_utils Namespace Reference

Functions
def	addSignalsToTracer (tracer, device, outputs)
def	addTrace (tracer, entity, signalName)
def	create_ankle_admittance_controller (gains, robot, side, name)
def	create_base_estimator (robot, dt, conf, robot_name="robot")
def	create_be_filters (robot, dt)
def	create_cdc_dcm_estimator (robot)
def	create_com_admittance_controller (Kp, dt, robot)
def	create_com_trajectory_generator (dt, robot)
def	create_config_trajectory_generator (dt, robot)
def	create_ctrl_manager (conf, dt, robot_name="robot")
def	create_dcm_com_controller (Kp, Ki, dt, robot, dcmSignal)
def	create_dcm_controller (Kp, Ki, dt, robot, dcmSignal)
def	create_dcm_estimator (robot, dt, robot_name="robot")
def	create_device_filters (robot, dt)
def	create_distribute_wrench (conf)
def	create_dummy_dcm_estimator (robot)
def	create_end_effector_admittance_controller (robot, endEffector, name)
def	create_example (robot_name="robot", firstAdd=0.0, secondAdd=0.0)
def	create_extend_mix (n_in, n_out)
def	create_ft_calibrator (robot, conf)
def	create_ft_wrist_calibrator (robot, endEffectorWeight, rightOC, leftOC)
def	create_hip_flexibility_compensation (robot, conf, robot_name="robot")
def	create_imu_filters (robot, dt)
def	create_joint_admittance_controller (joint, Kp, dt, robot, filter=False)
def	create_joint_controller (Kp)
def	create_joint_trajectory_generator (dt, robot)
def	create_orientation_rpy_trajectory_generator (dt, robot, signal_name)
def	create_parameter_server (conf, dt, robot_name="robot")
def	create_pose_rpy_trajectory_generator (dt, robot, signal_name)
def	create_position_trajectory_generator (dt, robot, signal_name)
def	create_qualisys_client (address)
def	create_rospublish (robot, name)
def	create_scalar_trajectory_generator (dt, init_value, name)
def	create_simple_distribute_wrench (name="distribute")
def	create_topic (rospub, entity, signalName, robot=None, data_type="vector")
def	create_torque_trajectory_generator (dt, robot)
def	create_tracer (robot, entity, tracer_name, outputs=None)
def	create_zmp_estimator (robot, filter=False)
def	create_zmp_trajectory_generator (dt, robot)
def	dump_tracer (tracer)
def	fill_parameter_server (param_server, conf, dt, robot_name="robot")
def	get_trigger (robot)
def	load_folder (robot, folder, zmp=False)
def	reload_folder (robot, folder, zmp=False)
def	reset_tracer (device, tracer)
def	rotation_matrix_to_rpy (R)
def	set_trigger (robot, on)

Variables
int	N_JOINTS = 32

Function Documentation

addSignalsToTracer()

def sot_talos_balance.create_entities_utils.addSignalsToTracer	(		tracer,
			device,
			outputs
	)

Definition at line 411 of file create_entities_utils.py.

addTrace()

def sot_talos_balance.create_entities_utils.addTrace	(		tracer,
			entity,
			signalName
	)

Add a signal to a tracer

Definition at line 402 of file create_entities_utils.py.

create_ankle_admittance_controller()

def sot_talos_balance.create_entities_utils.create_ankle_admittance_controller	(		gains,
			robot,
			side,
			name
	)

Definition at line 255 of file create_entities_utils.py.

create_base_estimator()

def sot_talos_balance.create_entities_utils.create_base_estimator	(		robot,
			dt,
			conf,
			robot_name = "robot"
	)

Definition at line 352 of file create_entities_utils.py.

create_be_filters()

def sot_talos_balance.create_entities_utils.create_be_filters	(		robot,
			dt
	)

Definition at line 332 of file create_entities_utils.py.

create_cdc_dcm_estimator()

def sot_talos_balance.create_entities_utils.create_cdc_dcm_estimator

(

robot

)

Definition at line 486 of file create_entities_utils.py.

create_com_admittance_controller()

def sot_talos_balance.create_entities_utils.create_com_admittance_controller	(		Kp,
			dt,
			robot
	)

Definition at line 503 of file create_entities_utils.py.

create_com_trajectory_generator()

def sot_talos_balance.create_entities_utils.create_com_trajectory_generator	(		dt,
			robot
	)

Definition at line 120 of file create_entities_utils.py.

create_config_trajectory_generator()

def sot_talos_balance.create_entities_utils.create_config_trajectory_generator	(		dt,
			robot
	)

Definition at line 102 of file create_entities_utils.py.

create_ctrl_manager()

def sot_talos_balance.create_entities_utils.create_ctrl_manager	(		conf,
			dt,
			robot_name = "robot"
	)

Definition at line 341 of file create_entities_utils.py.

create_dcm_com_controller()

def sot_talos_balance.create_entities_utils.create_dcm_com_controller	(		Kp,
			Ki,
			dt,
			robot,
			dcmSignal
	)

Definition at line 544 of file create_entities_utils.py.

create_dcm_controller()

def sot_talos_balance.create_entities_utils.create_dcm_controller	(		Kp,
			Ki,
			dt,
			robot,
			dcmSignal
	)

Definition at line 517 of file create_entities_utils.py.

create_dcm_estimator()

def sot_talos_balance.create_entities_utils.create_dcm_estimator	(		robot,
			dt,
			robot_name = "robot"
	)

Definition at line 632 of file create_entities_utils.py.

create_device_filters()

def sot_talos_balance.create_entities_utils.create_device_filters	(		robot,
			dt
	)

Definition at line 279 of file create_entities_utils.py.

create_distribute_wrench()

def sot_talos_balance.create_entities_utils.create_distribute_wrench

(

conf

)

Definition at line 640 of file create_entities_utils.py.

create_dummy_dcm_estimator()

def sot_talos_balance.create_entities_utils.create_dummy_dcm_estimator

(

robot

)

Definition at line 468 of file create_entities_utils.py.

create_end_effector_admittance_controller()

def sot_talos_balance.create_entities_utils.create_end_effector_admittance_controller	(		robot,
			endEffector,
			name
	)

Definition at line 182 of file create_entities_utils.py.

create_example()

def sot_talos_balance.create_entities_utils.create_example	(		robot_name = "robot",
			firstAdd = 0.0,
			secondAdd = 0.0
	)

Definition at line 624 of file create_entities_utils.py.

create_extend_mix()

def sot_talos_balance.create_entities_utils.create_extend_mix	(		n_in,
			n_out
	)

Definition at line 69 of file create_entities_utils.py.

create_ft_calibrator()

def sot_talos_balance.create_entities_utils.create_ft_calibrator	(		robot,
			conf
	)

Definition at line 683 of file create_entities_utils.py.

create_ft_wrist_calibrator()

def sot_talos_balance.create_entities_utils.create_ft_wrist_calibrator	(		robot,
			endEffectorWeight,
			rightOC,
			leftOC
	)

Definition at line 693 of file create_entities_utils.py.

create_hip_flexibility_compensation()

def sot_talos_balance.create_entities_utils.create_hip_flexibility_compensation	(		robot,
			conf,
			robot_name = "robot"
	)

Definition at line 240 of file create_entities_utils.py.

create_imu_filters()

def sot_talos_balance.create_entities_utils.create_imu_filters	(		robot,
			dt
	)

Definition at line 388 of file create_entities_utils.py.

create_joint_admittance_controller()

def sot_talos_balance.create_entities_utils.create_joint_admittance_controller	(		joint,
			Kp,
			dt,
			robot,
			filter = False
	)

Definition at line 217 of file create_entities_utils.py.

create_joint_controller()

def sot_talos_balance.create_entities_utils.create_joint_controller

(

Kp

)

Definition at line 176 of file create_entities_utils.py.

create_joint_trajectory_generator()

def sot_talos_balance.create_entities_utils.create_joint_trajectory_generator	(		dt,
			robot
	)

Definition at line 94 of file create_entities_utils.py.

create_orientation_rpy_trajectory_generator()

def sot_talos_balance.create_entities_utils.create_orientation_rpy_trajectory_generator	(		dt,
			robot,
			signal_name
	)

Definition at line 150 of file create_entities_utils.py.

create_parameter_server()

def sot_talos_balance.create_entities_utils.create_parameter_server	(		conf,
			dt,
			robot_name = "robot"
	)

Definition at line 619 of file create_entities_utils.py.

create_pose_rpy_trajectory_generator()

def sot_talos_balance.create_entities_utils.create_pose_rpy_trajectory_generator	(		dt,
			robot,
			signal_name
	)

Definition at line 162 of file create_entities_utils.py.

create_position_trajectory_generator()

def sot_talos_balance.create_entities_utils.create_position_trajectory_generator	(		dt,
			robot,
			signal_name
	)

Definition at line 138 of file create_entities_utils.py.

create_qualisys_client()

def sot_talos_balance.create_entities_utils.create_qualisys_client

(

address

)

Definition at line 53 of file create_entities_utils.py.

create_rospublish()

def sot_talos_balance.create_entities_utils.create_rospublish	(		robot,
			name
	)

Definition at line 446 of file create_entities_utils.py.

create_scalar_trajectory_generator()

def sot_talos_balance.create_entities_utils.create_scalar_trajectory_generator	(		dt,
			init_value,
			name
	)

Definition at line 86 of file create_entities_utils.py.

create_simple_distribute_wrench()

def sot_talos_balance.create_entities_utils.create_simple_distribute_wrench

(

name = "distribute"

)

Definition at line 659 of file create_entities_utils.py.

create_topic()

def sot_talos_balance.create_entities_utils.create_topic	(		rospub,
			entity,
			signalName,
			robot = None,
			data_type = "vector"
	)

Definition at line 454 of file create_entities_utils.py.

create_torque_trajectory_generator()

def sot_talos_balance.create_entities_utils.create_torque_trajectory_generator	(		dt,
			robot
	)

Definition at line 111 of file create_entities_utils.py.

create_tracer()

def sot_talos_balance.create_entities_utils.create_tracer	(		robot,
			entity,
			tracer_name,
			outputs = None
	)

Definition at line 417 of file create_entities_utils.py.

create_zmp_estimator()

def sot_talos_balance.create_entities_utils.create_zmp_estimator	(		robot,
			filter = False
	)

Definition at line 668 of file create_entities_utils.py.

create_zmp_trajectory_generator()

def sot_talos_balance.create_entities_utils.create_zmp_trajectory_generator	(		dt,
			robot
	)

Definition at line 128 of file create_entities_utils.py.

dump_tracer()

def sot_talos_balance.create_entities_utils.dump_tracer

(

tracer

)

Definition at line 438 of file create_entities_utils.py.

fill_parameter_server()

def sot_talos_balance.create_entities_utils.fill_parameter_server	(		param_server,
			conf,
			dt,
			robot_name = "robot"
	)

Definition at line 576 of file create_entities_utils.py.

get_trigger()

def sot_talos_balance.create_entities_utils.get_trigger

(

robot

)

Definition at line 711 of file create_entities_utils.py.

load_folder()

def sot_talos_balance.create_entities_utils.load_folder	(		robot,
			folder,
			zmp = False
	)

Definition at line 721 of file create_entities_utils.py.

reload_folder()

def sot_talos_balance.create_entities_utils.reload_folder	(		robot,
			folder,
			zmp = False
	)

Definition at line 746 of file create_entities_utils.py.

reset_tracer()

def sot_talos_balance.create_entities_utils.reset_tracer	(		device,
			tracer
	)

Definition at line 427 of file create_entities_utils.py.

rotation_matrix_to_rpy()

def sot_talos_balance.create_entities_utils.rotation_matrix_to_rpy

(

R

)

Definition at line 61 of file create_entities_utils.py.

set_trigger()

def sot_talos_balance.create_entities_utils.set_trigger	(		robot,
			on
	)

Definition at line 707 of file create_entities_utils.py.

Variable Documentation

N_JOINTS

int N_JOINTS = 32

Definition at line 50 of file create_entities_utils.py.