sot-talos-balance  2.0.5
Collection of dynamic-graph entities aimed at implementing balance control on talos.
Variables
sot_talos_balance.test.appli_joystick_dcmZmpControl Namespace Reference

Variables

 base_estimator
 
 cdc_estimator = DcmEstimator("cdc_estimator")
 
 cm
 
 cm_conf
 
 com_admittance_control = ComAdmittanceController("comAdmCtrl")
 
 contactLF
 
 contactRF
 
 CTRL_MAX
 
 data_type
 
 dcm_control
 
 dcm_controller = DcmController("dcmCtrl")
 
 device_filters
 
 dt = robot.timeStep
 
 dvdt
 
 dynamic
 
 e2q = EulerToQuat("e2q")
 
 estimator = DummyDcmEstimator("dummy")
 
 feature
 
 ftc
 
float g = 9.81
 
float gamma_dcm = 0.2
 
 h = robot.dynamic.com.value[2]
 
 imu_filters
 
 keepWaist
 
list Ki_dcm = [0.0, 0.0, 0.0]
 
list Kp_adm = [0.0, 0.0, 0.0]
 
list Kp_dcm = [8.0] * 3
 
 m2qLF
 
 m2qRF
 
 mass = robot.dynamic.data.mass[0]
 
 name
 
 omega = sqrt(g / h)
 
 param_server
 
 pg
 
 publisher
 THIS PARAGRAPH QUITE DIFFERENT, TO CHECK. More...
 
 q = list(robot.dynamic.position.value)
 
 rdynamic
 
 robot
 ADDED. More...
 
string robot_name = "robot"
 
 robotDim = robot.dynamic.getDimension()
 
 rospack = RosPack()
 
 sot
 
 talos_data_folder = rospack.get_path("talos_data")
 
 taskCom
 
 taskComH
 
 taskUpperBody
 
 timeStep
 
 tracer
 END ADDED. More...
 
 triggerPG
 
 value
 ON THE NEXT STUFF THERE IS A DIFFERENCE, CHECK IF RELEVENT TO CHANGE HERE AS WELL FROM ISA'S CODE. More...
 
 wp = DummyWalkingPatternGenerator("dummy_wp")
 
 zmp_estimator = SimpleZmpEstimator("zmpEst")
 

Variable Documentation

◆ base_estimator

base_estimator

Definition at line 136 of file appli_joystick_dcmZmpControl.py.

◆ cdc_estimator

cdc_estimator = DcmEstimator("cdc_estimator")

Definition at line 159 of file appli_joystick_dcmZmpControl.py.

◆ cm

cm

Definition at line 234 of file appli_joystick_dcmZmpControl.py.

◆ cm_conf

cm_conf

Definition at line 234 of file appli_joystick_dcmZmpControl.py.

◆ com_admittance_control

com_admittance_control = ComAdmittanceController("comAdmCtrl")

Definition at line 218 of file appli_joystick_dcmZmpControl.py.

◆ contactLF

contactLF

Definition at line 279 of file appli_joystick_dcmZmpControl.py.

◆ contactRF

contactRF

Definition at line 287 of file appli_joystick_dcmZmpControl.py.

◆ CTRL_MAX

CTRL_MAX

Definition at line 28 of file appli_joystick_dcmZmpControl.py.

◆ data_type

data_type

Definition at line 352 of file appli_joystick_dcmZmpControl.py.

◆ dcm_control

dcm_control

Definition at line 211 of file appli_joystick_dcmZmpControl.py.

◆ dcm_controller

dcm_controller = DcmController("dcmCtrl")

Definition at line 195 of file appli_joystick_dcmZmpControl.py.

◆ device_filters

device_filters

Definition at line 134 of file appli_joystick_dcmZmpControl.py.

◆ dt

dt = robot.timeStep

Definition at line 31 of file appli_joystick_dcmZmpControl.py.

◆ dvdt

dvdt

Definition at line 337 of file appli_joystick_dcmZmpControl.py.

◆ dynamic

dynamic

Definition at line 296 of file appli_joystick_dcmZmpControl.py.

◆ e2q

e2q = EulerToQuat("e2q")

Definition at line 146 of file appli_joystick_dcmZmpControl.py.

◆ estimator

estimator = DummyDcmEstimator("dummy")

Definition at line 166 of file appli_joystick_dcmZmpControl.py.

◆ feature

feature

Definition at line 243 of file appli_joystick_dcmZmpControl.py.

◆ ftc

ftc

Definition at line 175 of file appli_joystick_dcmZmpControl.py.

◆ g

float g = 9.81

Definition at line 39 of file appli_joystick_dcmZmpControl.py.

◆ gamma_dcm

float gamma_dcm = 0.2

Definition at line 193 of file appli_joystick_dcmZmpControl.py.

◆ h

h = robot.dynamic.com.value[2]

Definition at line 38 of file appli_joystick_dcmZmpControl.py.

◆ imu_filters

imu_filters

Definition at line 135 of file appli_joystick_dcmZmpControl.py.

◆ keepWaist

keepWaist

Definition at line 311 of file appli_joystick_dcmZmpControl.py.

◆ Ki_dcm

list Ki_dcm = [0.0, 0.0, 0.0]

Definition at line 192 of file appli_joystick_dcmZmpControl.py.

◆ Kp_adm

list Kp_adm = [0.0, 0.0, 0.0]

Definition at line 216 of file appli_joystick_dcmZmpControl.py.

◆ Kp_dcm

list Kp_dcm = [8.0] * 3

Definition at line 191 of file appli_joystick_dcmZmpControl.py.

◆ m2qLF

m2qLF

Definition at line 138 of file appli_joystick_dcmZmpControl.py.

◆ m2qRF

m2qRF

Definition at line 141 of file appli_joystick_dcmZmpControl.py.

◆ mass

mass = robot.dynamic.data.mass[0]

Definition at line 37 of file appli_joystick_dcmZmpControl.py.

◆ name

name

Definition at line 296 of file appli_joystick_dcmZmpControl.py.

◆ omega

omega = sqrt(g / h)

Definition at line 40 of file appli_joystick_dcmZmpControl.py.

◆ param_server

param_server

Definition at line 43 of file appli_joystick_dcmZmpControl.py.

◆ pg

pg

Definition at line 55 of file appli_joystick_dcmZmpControl.py.

◆ publisher

publisher

THIS PARAGRAPH QUITE DIFFERENT, TO CHECK.

Definition at line 348 of file appli_joystick_dcmZmpControl.py.

◆ q

q = list(robot.dynamic.position.value)

Definition at line 245 of file appli_joystick_dcmZmpControl.py.

◆ rdynamic

rdynamic

Definition at line 151 of file appli_joystick_dcmZmpControl.py.

◆ robot

robot

ADDED.

que font ces lignes exactement ??

Definition at line 352 of file appli_joystick_dcmZmpControl.py.

◆ robot_name

robot_name = "robot"

Definition at line 34 of file appli_joystick_dcmZmpControl.py.

◆ robotDim

robotDim = robot.dynamic.getDimension()

Definition at line 36 of file appli_joystick_dcmZmpControl.py.

◆ rospack

rospack = RosPack()

Definition at line 59 of file appli_joystick_dcmZmpControl.py.

◆ sot

sot

Definition at line 321 of file appli_joystick_dcmZmpControl.py.

◆ talos_data_folder

talos_data_folder = rospack.get_path("talos_data")

Definition at line 60 of file appli_joystick_dcmZmpControl.py.

◆ taskCom

taskCom

Definition at line 302 of file appli_joystick_dcmZmpControl.py.

◆ taskComH

taskComH

Definition at line 296 of file appli_joystick_dcmZmpControl.py.

◆ taskUpperBody

taskUpperBody

Definition at line 242 of file appli_joystick_dcmZmpControl.py.

◆ timeStep

timeStep

Definition at line 30 of file appli_joystick_dcmZmpControl.py.

◆ tracer

tracer

END ADDED.

create_topic(robot.publisher, robot.stf, 'q', robot = robot, data_type='vector')

create_topic(robot.publisher, robot.comTrajGen, 'x', robot=robot, data_type='vector') # generated CoM create_topic(robot.publisher, robot.comTrajGen, 'dx', robot=robot, data_type='vector') # generated CoM velocity create_topic(robot.publisher, robot.comTrajGen, 'ddx', robot=robot, data_type='vector') # generated CoM acceleration

create_topic(robot.publisher, robot.wp, 'comDes', robot=robot, data_type='vector') # desired CoM

create_topic(robot.publisher, robot.cdc_estimator, 'c', robot=robot, data_type='vector') # estimated CoM create_topic(robot.publisher, robot.cdc_estimator, 'dc', robot=robot, data_type='vector') # estimated CoM velocity

create_topic(robot.publisher, robot.com_admittance_control, 'comRef', robot=robot, data_type='vector') # reference CoM create_topic(robot.publisher, robot.dynamic, 'com', robot=robot, data_type='vector') # resulting SOT CoM

create_topic(robot.publisher, robot.dcm_control, 'dcmDes', robot=robot, data_type='vector') # desired DCM create_topic(robot.publisher, robot.estimator, 'dcm', robot=robot, data_type='vector') # estimated DCM

create_topic(robot.publisher, robot.zmpTrajGen, 'x', robot=robot, data_type='vector') # generated ZMP create_topic(robot.publisher, robot.wp, 'zmpDes', robot=robot, data_type='vector') # desired ZMP create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vector') # SOT ZMP create_topic(robot.publisher, robot.zmp_estimator, 'zmp', robot=robot, data_type='vector') # estimated ZMP create_topic(robot.publisher, robot.dcm_control, 'zmpRef', robot=robot, data_type='vector') # reference ZMP

create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector') # measured left wrench create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector') # measured right wrench

create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench

create_topic(robot.publisher, robot.waistTrajGen, 'x', robot=robot, data_type='vector') # desired waist orientation

create_topic(robot.publisher, robot.lfTrajGen, 'x', robot=robot, data_type='vector') # desired left foot pose create_topic(robot.publisher, robot.rfTrajGen, 'x', robot=robot, data_type='vector') # desired right foot pose

create_topic(robot.publisher, robot.ftc, 'left_foot_force_out', robot=robot, data_type='vector') # calibrated left wrench create_topic(robot.publisher, robot.ftc, 'right_foot_force_out', robot=robot, data_type='vector') # calibrated right wrench

create_topic(robot.publisher, robot.dynamic, 'LF', robot=robot, data_type='matrixHomo') # left foot create_topic(robot.publisher, robot.dynamic, 'RF', robot=robot, data_type='matrixHomo') # right foot

— TRACER

Definition at line 434 of file appli_joystick_dcmZmpControl.py.

◆ triggerPG

triggerPG

Definition at line 106 of file appli_joystick_dcmZmpControl.py.

◆ value

value

ON THE NEXT STUFF THERE IS A DIFFERENCE, CHECK IF RELEVENT TO CHANGE HERE AS WELL FROM ISA'S CODE.

Definition at line 87 of file appli_joystick_dcmZmpControl.py.

◆ wp

wp = DummyWalkingPatternGenerator("dummy_wp")

Definition at line 112 of file appli_joystick_dcmZmpControl.py.

◆ zmp_estimator

zmp_estimator = SimpleZmpEstimator("zmpEst")

Definition at line 178 of file appli_joystick_dcmZmpControl.py.