Public Member Functions | |
| def | __init__ (self, cname="[hrpsys.py] ") |
| def | activateComps (self) |
| Activate components(plugins) More... | |
| def | calibrateInertiaSensor (self) |
| Calibrate inertia sensor. More... | |
| def | calibrateInertiaSensorWithDialog (self) |
| Calibrate inertia sensor with dialog and setting calibration pose. More... | |
| def | checkEncoders (self, jname='all', option='') |
| Run the encoder checking sequence for specified joints, run goActual and turn on servos. More... | |
| def | checkSimulationMode (self) |
| Check if this is running as simulation. More... | |
| def | clear (self) |
| Clears the Sequencer's current operation. More... | |
| def | clearJointAngles (self) |
| Cancels the commanded sequence of joint angle, by overwriting the command by the values of instant the method was invoked. More... | |
| def | clearJointAnglesOfGroup (self, gname) |
| Cancels the commanded sequence of joint angle for the specified joint group, by overwriting the command by the values of instant the method was invoked. More... | |
| def | clearLog (self) |
| Clear logger's buffer. More... | |
| def | clearOfGroup (self, gname, tm=0.0) |
| Clears the Sequencer's current operation for joint groups. More... | |
| def | connectComps (self) |
| Connect components(plugins) More... | |
| def | connectLoggerPort (self, artc, sen_name, log_name=None) |
| Connect port to logger. More... | |
| def | createComp (self, compName, instanceName) |
| Create RTC component (plugins) More... | |
| def | createComps (self) |
| Create components(plugins) in getRTCList() More... | |
| def | deactivateComps (self) |
| Deactivate components(plugins) More... | |
| def | deleteComp (self, compName) |
| Delete RTC component (plugins) More... | |
| def | deleteComps (self) |
| Delete components(plugins) in getRTCInstanceList() More... | |
| def | findComp (self, compName, instanceName, max_timeout_count=10, verbose=True) |
| Find component(plugin) More... | |
| def | findComps (self, max_timeout_count=10, verbose=True) |
| Check if all components in getRTCList() are created. More... | |
| def | findModelLoader (self) |
| Try to find ModelLoader. More... | |
| def | flat2Groups (self, flatList) |
| Convert list of angles into list of joint list for each groups. More... | |
| def | getActualState (self) |
| Get actual states of the robot that includes current reference joint angles and joint torques. More... | |
| def | getBodyInfo (self, url) |
| Get bodyInfo. More... | |
| def | getCurrentPose (self, lname=None, frame_name=None) |
| Returns the current physical pose of the specified joint in the joint space. More... | |
| def | getCurrentPosition (self, lname=None, frame_name=None) |
| Returns the current physical position of the specified joint in Cartesian space. More... | |
| def | getCurrentRotation (self, lname, frame_name=None) |
| Returns the current physical rotation of the specified joint. More... | |
| def | getCurrentRPY (self, lname, frame_name=None) |
| Returns the current physical rotation in RPY of the specified joint. More... | |
| def | getForceSensorNames (self) |
| Get list of force sensor names. More... | |
| def | getJointAngleControllerList (self) |
| Get list of controller list that need to control joint angles. More... | |
| def | getJointAngles (self) |
| Returns the commanded joint angle values. More... | |
| def | getReferencePose (self, lname, frame_name=None) |
| Returns the current commanded pose of the specified joint in the joint space. More... | |
| def | getReferencePosition (self, lname, frame_name=None) |
| Returns the current commanded position of the specified joint in Cartesian space. More... | |
| def | getReferenceRotation (self, lname, frame_name=None) |
| Returns the current commanded rotation of the specified joint. More... | |
| def | getReferenceRPY (self, lname, frame_name=None) |
| Returns the current commanded rotation in RPY of the specified joint. More... | |
| def | getRTCInstanceList (self, verbose=True) |
| Get list of RTC Instance. More... | |
| def | getRTCList (self) |
| Get list of available STABLE components. More... | |
| def | getRTCListUnstable (self) |
| Get list of available components including stable and unstable. More... | |
| def | getSensors (self, url) |
| Get list of sensors. More... | |
| def | goActual (self) |
| Adjust commanded values to the angles in the physical state by calling StateHolder::goActual. More... | |
| def | init (self, robotname="Robot", url="") |
| Calls init from its superclass, which tries to connect RTCManager, looks for ModelLoader, and starts necessary RTC components. More... | |
| def | isCalibDone (self) |
| Check whether joints have been calibrated. More... | |
| def | isServoOn (self, jname='any') |
| Check whether servo control has been turned on. More... | |
| def | lengthDigitalInput (self) |
| Returns the length of digital input port. More... | |
| def | lengthDigitalOutput (self) |
| Returns the length of digital output port. More... | |
| def | loadPattern (self, fname, tm) |
| Load a pattern file that is created offline. More... | |
| def | parseUrl (self, url) |
| def | playPattern (self, jointangles, rpy, zmp, tm) |
| Play motion pattern using a given trajectory that is represented by a list of joint angles, rpy, zmp and time. More... | |
| def | playPatternOfGroup (self, gname, jointangles, tm) |
| Play motion pattern using a set of given trajectories that are represented by lists of joint angles. More... | |
| def | readDigitalInput (self) |
| Read data from Digital Input. More... | |
| def | readDigitalOutput (self) |
| Read data from Digital Output. More... | |
| def | removeForceSensorOffset (self) |
| remove force sensor offset More... | |
| def | removeForceSensorOffsetRMFO (self, sensor_names=[], tm=8.0) |
| remove force sensor offset by RemoveForceSensorOffset (RMFO) RTC. More... | |
| def | saveLog (self, fname='sample') |
| Save log to the given file name. More... | |
| def | servoOff (self, jname='all', wait=True) |
| Turn off servos. More... | |
| def | servoOn (self, jname='all', destroy=1, tm=3) |
| Turn on servos. More... | |
| def | setFootSteps (self, footstep, overwrite_fs_idx=0) |
| setFootSteps More... | |
| def | setFootStepsWithParam (self, footstep, stepparams, overwrite_fs_idx=0) |
| setFootSteps More... | |
| def | setInterpolationMode (self, mode) |
| Set interpolation mode. More... | |
| def | setJointAngle (self, jname, angle, tm) |
| Set angle to the given joint. More... | |
| def | setJointAngles (self, angles, tm) |
| Set all joint angles. More... | |
| def | setJointAnglesOfGroup (self, gname, pose, tm, wait=True) |
| Set the joint angles to aim. More... | |
| def | setJointAnglesSequence (self, angless, tms) |
| Set all joint angles. More... | |
| def | setJointAnglesSequenceOfGroup (self, gname, angless, tms) |
| Set all joint angles. More... | |
| def | setMaxLogLength (self, length) |
| Set logger's buffer. More... | |
| def | setSelfGroups (self) |
| Set to the hrpsys.SequencePlayer the groups of links and joints that are statically defined as member variables (Groups) within this class. More... | |
| def | setSensorCalibrationJointAngles (self) |
| Set joint angles for sensor calibration. More... | |
| def | setTargetPose (self, gname, pos, rpy, tm, frame_name=None) |
| Move the end-effector to the given absolute pose. More... | |
| def | setTargetPoseRelative (self, gname, eename, dx=0, dy=0, dz=0, dr=0, dp=0, dw=0, tm=10, wait=True) |
| Move the end-effector's location relative to its current pose. More... | |
| def | setupLogger (self, maxLength=4000) |
| Setup logging function. More... | |
| def | startAutoBalancer (self, limbs=None) |
| Start AutoBalancer mode. More... | |
| def | startDefaultUnstableControllers (self, ic_limbs=[], abc_limbs=[]) |
| Start default unstable RTCs controller mode. More... | |
| def | startImpedance (self, arm, kwargs) |
| Enable the ImpedanceController RT component. More... | |
| def | startImpedance_315_4 (self, arm, M_p=100.0, D_p=100.0, K_p=100.0, M_r=100.0, D_r=2000.0, K_r=2000.0, force_gain=[1, moment_gain=[0, sr_gain=1.0, avoid_gain=0.0, reference_gain=0.0, manipulability_limit=0.1, controller_mode=None, ik_optional_weight_vector=None) |
| start impedance mode More... | |
| def | startStabilizer (self) |
| Start Stabilzier mode. More... | |
| def | stopAutoBalancer (self) |
| Stop AutoBalancer mode. More... | |
| def | stopDefaultUnstableControllers (self, ic_limbs=[]) |
| Stop default unstable RTCs controller mode. More... | |
| def | stopImpedance (self, arm) |
| def | stopImpedance_315_4 (self, arm) |
| stop impedance mode More... | |
| def | stopStabilizer (self) |
| Stop Stabilzier mode. More... | |
| def | waitForModelLoader (self) |
| Wait for ModelLoader. More... | |
| def | waitForRobotHardware (self, robotname="Robot") |
| Wait for RobotHardware is exists and activated. More... | |
| def | waitForRTCManager (self, managerhost=nshost) |
| Wait for RTC manager. More... | |
| def | waitForRTCManagerAndRoboHardware (self, robotname="Robot", managerhost=nshost) |
| def | waitForRTCManagerAndRobotHardware (self, robotname="Robot", managerhost=nshost) |
| Wait for both RTC Manager (waitForRTCManager()) and RobotHardware (waitForRobotHardware()) More... | |
| def | waitInterpolation (self) |
| Lets SequencePlayer wait until the movement currently happening to finish. More... | |
| def | waitInterpolationOfGroup (self, gname) |
| Lets SequencePlayer wait until the movement currently happening to finish. More... | |
| def | writeDigitalOutput (self, dout) |
| Using writeDigitalOutputWithMask is recommended for the less data transport. More... | |
| def | writeDigitalOutputWithMask (self, dout, mask) |
| Both dout and mask are lists with length of 32. More... | |
Public Attributes | |
| configurator_name | |
| kinematics_only_mode | |
Static Public Attributes | |
| abc = None | |
| abc_version = None | |
| acf = None | |
| acf_svc = None | |
| acf_version = None | |
| bp = None | |
| bp_svc = None | |
| bp_version = None | |
| co = None | |
| co_svc = None | |
| co_version = None | |
| el = None | |
| el_svc = None | |
| el_version = None | |
| ep_svc = None | |
| es = None | |
| es_svc = None | |
| es_version = None | |
| fk = None | |
| fk_svc = None | |
| fk_version = None | |
| gc = None | |
| gc_svc = None | |
| gc_version = None | |
| list | Groups = [] |
| hes = None | |
| hes_svc = None | |
| hes_version = None | |
| hgc = None | |
| hrpsys_version = None | |
| ic = None | |
| ic_version = None | |
| kf = None | |
| kf_version = None | |
| bool | kinematics_only_mode = False |
| log = None | |
| log_svc = None | |
| bool | log_use_owned_ec = False |
| log_version = None | |
| ms = None | |
| octd = None | |
| octd_svc = None | |
| octd_version = None | |
| pdc = None | |
| rfu = None | |
| rfu_svc = None | |
| rfu_version = None | |
| rh = None | |
| rh_svc = None | |
| rh_version = None | |
| rmfo = None | |
| rmfo_version = None | |
| sc = None | |
| sc_svc = None | |
| sc_version = None | |
| sensors = None | |
| seq = None | |
| seq_svc = None | |
| seq_version = None | |
| sh = None | |
| sh_svc = None | |
| sh_version = None | |
| simulation_mode = None | |
| st = None | |
| st_version = None | |
| tc = None | |
| tc_svc = None | |
| tc_version = None | |
| te = None | |
| te_svc = None | |
| te_version = None | |
| tf = None | |
| tf_version = None | |
| tl = None | |
| tl_svc = None | |
| tl_version = None | |
| vs = None | |
| vs_version = None | |
Detailed Description
Definition at line 161 of file hrpsys_config.py.
Constructor & Destructor Documentation
| def python.hrpsys_config.HrpsysConfigurator.__init__ | ( | self, | |
cname = "[hrpsys.py] " |
|||
| ) |
Definition at line 2307 of file hrpsys_config.py.
Member Function Documentation
| def python.hrpsys_config.HrpsysConfigurator.activateComps | ( | self | ) |
Activate components(plugins)
Definition at line 576 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.calibrateInertiaSensor | ( | self | ) |
Calibrate inertia sensor.
Definition at line 2003 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.calibrateInertiaSensorWithDialog | ( | self | ) |
Calibrate inertia sensor with dialog and setting calibration pose.
Definition at line 2009 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.checkEncoders | ( | self, | |
jname = 'all', |
|||
option = '' |
|||
| ) |
Run the encoder checking sequence for specified joints, run goActual and turn on servos.
- Parameters
-
jname str: The value 'all' works iteratively for all servos. option str: Possible values are follows (w/o double quote):\ "-overwrite": Overwrite calibration value.
Definition at line 1888 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.checkSimulationMode | ( | self | ) |
Check if this is running as simulation.
Definition at line 975 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.clear | ( | self | ) |
Clears the Sequencer's current operation.
Works for joint groups too.
- See also
- HrpsysConfigurator.clear
Discussed in https://github.com/fkanehiro/hrpsys-base/issues/158 Examples is found in a unit test: https://github.com/start-jsk/rtmros_hironx/blob/bb0672be3e03e5366e03fe50520e215302b8419f/hironx_ros_bridge/test/test_hironx.py#L293
Definition at line 1508 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.clearJointAngles | ( | self | ) |
Cancels the commanded sequence of joint angle, by overwriting the command by the values of instant the method was invoked.
Note that this only cancels the queue once. Icoming commands after this method is called will be processed as usual.
- Returns
- bool
Definition at line 2234 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.clearJointAnglesOfGroup | ( | self, | |
| gname | |||
| ) |
Cancels the commanded sequence of joint angle for the specified joint group, by overwriting the command by the values of instant the method was invoked.
Note that this only cancels the queue once. Icoming commands after this method is called will be processed as usual.
- Parameters
-
gname Name of the joint group.
- Returns
- bool
Definition at line 2242 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.clearLog | ( | self | ) |
Clear logger's buffer.
Definition at line 1533 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.clearOfGroup | ( | self, | |
| gname, | |||
tm = 0.0 |
|||
| ) |
Clears the Sequencer's current operation for joint groups.
Definition at line 1518 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.connectComps | ( | self | ) |
Connect components(plugins)
Definition at line 295 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.connectLoggerPort | ( | self, | |
| artc, | |||
| sen_name, | |||
log_name = None |
|||
| ) |
Connect port to logger.
- Parameters
-
artc object: object of component that contains sen_name port sen_name str: name of port for logging log_name str: name of port in logger
Definition at line 838 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.createComp | ( | self, | |
| compName, | |||
| instanceName | |||
| ) |
Create RTC component (plugins)
- Parameters
-
instanceName str: name of instance, choose one of https://github.com/fkanehiro/hrpsys-base/tree/master/rtc comName str: name of component that to be created.
Definition at line 593 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.createComps | ( | self | ) |
Create components(plugins) in getRTCList()
Definition at line 613 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.deactivateComps | ( | self | ) |
Deactivate components(plugins)
Definition at line 585 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.deleteComp | ( | self, | |
| compName | |||
| ) |
Delete RTC component (plugins)
- Parameters
-
compName str: name of component that to be deleted
Definition at line 629 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.deleteComps | ( | self | ) |
Delete components(plugins) in getRTCInstanceList()
Definition at line 640 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.findComp | ( | self, | |
| compName, | |||
| instanceName, | |||
max_timeout_count = 10, |
|||
verbose = True |
|||
| ) |
Find component(plugin)
- Parameters
-
compName str: component name instanceName str: instance name int: max timeout in seconds
Definition at line 657 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.findComps | ( | self, | |
max_timeout_count = 10, |
|||
verbose = True |
|||
| ) |
Check if all components in getRTCList() are created.
Definition at line 693 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.findModelLoader | ( | self | ) |
Try to find ModelLoader.
Definition at line 1010 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.flat2Groups | ( | self, | |
| flatList | |||
| ) |
Convert list of angles into list of joint list for each groups.
- Parameters
-
flatList list: single dimension list with its length of 15
- Returns
- list of list: 2-dimensional list of Groups.
Definition at line 1777 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getActualState | ( | self | ) |
Get actual states of the robot that includes current reference joint angles and joint torques.
- Returns
- : This returns actual states of the robot, which is defined in RobotHardware.idl (found at https://github.com/fkanehiro/hrpsys-base/blob/3fd7671de5129101a4ade3f98e2eac39fd6b26c0/idl/RobotHardwareService.idl#L32_L57 as of version 315.11.0)
/** * @brief status of the robot */ struct RobotState { DblSequence angle; ///< current joint angles[rad] DblSequence command;///< reference joint angles[rad] DblSequence torque; ///< joint torques[Nm] /** * @brief servo statuses(32bit+extra states) * * 0: calib status ( 1 => done )\n * 1: servo status ( 1 => on )\n * 2: power status ( 1 => supplied )\n * 3-18: servo alarms (see @ref iob.h)\n * 19-23: unused * 24-31: driver temperature (deg) */ LongSequenceSequence servoState; sequence<DblSequence6> force; ///< forces[N] and torques[Nm] sequence<DblSequence3> rateGyro; ///< angular velocities[rad/s] sequence<DblSequence3> accel; ///< accelerations[m/(s^2)] double voltage; ///< voltage of power supply[V] double current; ///< current[A] };
Definition at line 1694 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getBodyInfo | ( | self, | |
| url | |||
| ) |
Get bodyInfo.
Definition at line 803 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getCurrentPose | ( | self, | |
lname = None, |
|||
frame_name = None |
|||
| ) |
Returns the current physical pose of the specified joint in the joint space.
cf. getReferencePose that returns commanded value.
eg.
IN: robot.getCurrentPose('LARM_JOINT5')
OUT: [-0.0017702356144599085,
0.00019034630541264752,
-0.9999984150158207,
0.32556275164378523,
0.00012155879975329215,
0.9999999745367515,
0.0001901314142046251,
0.18236394191140365,
0.9999984257434246,
-0.00012122202968358842,
-0.001770258707652326,
0.07462472659364472,
0.0,
0.0,
0.0,
1.0]
lname: str
- Parameters
-
lname Name of the link. frame_name str: set reference frame name (from 315.2.5) : list of float
- Returns
- : Rotational matrix and the position of the given joint in 1-dimensional list, that is:
[a11, a12, a13, x, a21, a22, a23, y, a31, a32, a33, z, 0, 0, 0, 1]
Definition at line 1219 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getCurrentPosition | ( | self, | |
lname = None, |
|||
frame_name = None |
|||
| ) |
Returns the current physical position of the specified joint in Cartesian space.
cf. getReferencePosition that returns commanded value.
eg.
robot.getCurrentPosition('LARM_JOINT5')
[0.325, 0.182, 0.074]
lname: str
- Parameters
-
lname Name of the link. frame_name str: set reference frame name (from 315.2.5) : list of float
- Returns
- : List of x, y, z positions about the specified joint.
Definition at line 1272 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getCurrentRotation | ( | self, | |
| lname, | |||
frame_name = None |
|||
| ) |
Returns the current physical rotation of the specified joint.
cf. getReferenceRotation that returns commanded value.
lname: str
- Parameters
-
lname Name of the link. frame_name str: set reference frame name (from 315.2.5) : list of float
- Returns
- : Rotational matrix of the given joint in 2-dimensional list, that is:
[[a11, a12, a13], [a21, a22, a23], [a31, a32, a33]]
Definition at line 1297 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getCurrentRPY | ( | self, | |
| lname, | |||
frame_name = None |
|||
| ) |
Returns the current physical rotation in RPY of the specified joint.
cf. getReferenceRPY that returns commanded value.
lname: str
- Parameters
-
lname Name of the link. frame_name str: set reference frame name (from 315.2.5) : list of float
- Returns
- : List of orientation in rpy form about the specified joint.
Definition at line 1322 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getForceSensorNames | ( | self | ) |
Get list of force sensor names.
Returns existence force sensors and virtual force sensors. self.sensors and virtual force sensors are assumed.
Definition at line 829 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getJointAngleControllerList | ( | self | ) |
Get list of controller list that need to control joint angles.
Definition at line 766 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getJointAngles | ( | self | ) |
Returns the commanded joint angle values.
- See also
- : HrpsysConfigurator.getJointAngles
Note that it's not the physical state of the robot's joints, which can be obtained by getActualState().angle.
- Returns
- List of float: List of angles (degree) of all joints, in the order defined in the member variable 'Groups' (eg. chest, head1, head2, ..).
Definition at line 1205 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getReferencePose | ( | self, | |
| lname, | |||
frame_name = None |
|||
| ) |
Returns the current commanded pose of the specified joint in the joint space.
cf. getCurrentPose that returns physical pose.
lname: str
- Parameters
-
lname Name of the link. frame_name str: set reference frame name (from 315.2.5) : list of float
- Returns
- : Rotational matrix and the position of the given joint in 1-dimensional list, that is:
[a11, a12, a13, x, a21, a22, a23, y, a31, a32, a33, z, 0, 0, 0, 1]
Definition at line 1340 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getReferencePosition | ( | self, | |
| lname, | |||
frame_name = None |
|||
| ) |
Returns the current commanded position of the specified joint in Cartesian space.
cf. getCurrentPosition that returns physical value.
lname: str
- Parameters
-
lname Name of the link. frame_name str: set reference frame name (from 315.2.5) : list of float
- Returns
- : List of angles (degree) of all joints, in the order defined in the member variable 'Groups' (eg. chest, head1, head2, ..).
Definition at line 1372 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getReferenceRotation | ( | self, | |
| lname, | |||
frame_name = None |
|||
| ) |
Returns the current commanded rotation of the specified joint.
cf. getCurrentRotation that returns physical value.
lname: str
- Parameters
-
lname Name of the link. frame_name str: set reference frame name (from 315.2.5) : list of float
- Returns
- : Rotational matrix of the given joint in 2-dimensional list, that is:
[[a11, a12, a13], [a21, a22, a23], [a31, a32, a33]]
Definition at line 1392 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getReferenceRPY | ( | self, | |
| lname, | |||
frame_name = None |
|||
| ) |
Returns the current commanded rotation in RPY of the specified joint.
cf. getCurrentRPY that returns physical value.
lname: str
- Parameters
-
lname Name of the link. frame_name str: set reference frame name (from 315.2.5) : list of float
- Returns
- : List of orientation in rpy form about the specified joint.
Definition at line 1417 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getRTCInstanceList | ( | self, | |
verbose = True |
|||
| ) |
Get list of RTC Instance.
Definition at line 774 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getRTCList | ( | self | ) |
Get list of available STABLE components.
- Returns
- list of list: List of available components. Each element consists of a list of abbreviated and full names of the component.
Definition at line 708 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getRTCListUnstable | ( | self | ) |
Get list of available components including stable and unstable.
- Returns
- list of list: List of available unstable components. Each element consists of a list of abbreviated and full names of the component.
Definition at line 734 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.getSensors | ( | self, | |
| url | |||
| ) |
Get list of sensors.
- Parameters
-
url str: model file url
Definition at line 815 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.goActual | ( | self | ) |
Adjust commanded values to the angles in the physical state by calling StateHolder::goActual.
This needs to be run BEFORE servos are turned on.
Definition at line 1038 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.init | ( | self, | |
robotname = "Robot", |
|||
url = "" |
|||
| ) |
Calls init from its superclass, which tries to connect RTCManager, looks for ModelLoader, and starts necessary RTC components.
Also runs config, logger. Also internally calls setSelfGroups().
robotname: str url: str
Definition at line 2264 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.isCalibDone | ( | self | ) |
Check whether joints have been calibrated.
- Returns
- bool: True if all joints are calibrated
Definition at line 1730 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.isServoOn | ( | self, | |
jname = 'any' |
|||
| ) |
Check whether servo control has been turned on.
- Parameters
-
jname str: Name of a link (that can be obtained by "hiro.Groups" as lists of groups). When jname = 'all' or 'any' => If all joints are servoOn, return True, otherwise, return False. When jname = 'some' => If some joint is servoOn, return True, otherwise return False.
- Returns
- bool: True if servo is on
Definition at line 1744 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.lengthDigitalInput | ( | self | ) |
Returns the length of digital input port.
Definition at line 1546 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.lengthDigitalOutput | ( | self | ) |
Returns the length of digital output port.
Definition at line 1552 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.loadPattern | ( | self, | |
| fname, | |||
| tm | |||
| ) |
Load a pattern file that is created offline.
Format of the pattern file:
- example format:
t0 j0 j1 j2...jn t1 j0 j1 j2...jn : tn j0 j1 j2...jn
- Delimmitted by space
- Each line consists of an action.
- Time between each action is defined by tn+1 - tn
- The time taken for the 1st line is defined by the arg tm.
- Parameters
-
fname str: Name of the pattern file. tm float: - The time to take for the 1st line.
- Returns
- : List of 2 oct(string) values.
Definition at line 1153 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.parseUrl | ( | self, | |
| url | |||
| ) |
Definition at line 795 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.playPattern | ( | self, | |
| jointangles, | |||
| rpy, | |||
| zmp, | |||
| tm | |||
| ) |
Play motion pattern using a given trajectory that is represented by a list of joint angles, rpy, zmp and time.
jointangles: [[float]]
- Parameters
-
jointangles Sequence of the sets of joint angles in radian. The whole list represents a trajectory. Each element of the 1st degree in the list consists of the joint angles. rpy list of float: Orientation in rpy. zmp list of float: TODO: description tm float: Second to complete the command. This only includes the time taken for execution (i.e. time for planning and other misc. processes are not considered).
- Returns
- bool:
Definition at line 1946 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.playPatternOfGroup | ( | self, | |
| gname, | |||
| jointangles, | |||
| tm | |||
| ) |
Play motion pattern using a set of given trajectories that are represented by lists of joint angles.
Each trajectory aims to run within the specified time (tm), and there's no slow down between trajectories unless the next one is the last.
Example: self.playPatternOfGroup('larm', [[0.0, 0.0, -2.2689280275926285, 0.0, 0.0, 0.0], [0.0, 0.0, -1.9198621771937625, 0.0, 0.0, 0.0], [0.0, 0.0, -1.5707963, 0.0, 0.0, 0.0]], [3, 3, 10])
- Parameters
-
gname str: Name of the joint group. jointangles: [[float]] jointangles Sequence of the sets of joint angles in radian. The whole list represents a trajectory. Each element of the 1st degree in the list consists of the joint angles. To illustrate:
[[a0-0, a0-1,...,a0-n], # a)ngle. 1st path in trajectory [a1-0, a1-1,...,a1-n], # 2nd path in the trajectory. : [am-0, am-1,...,am-n]] # mth path in the trajectory tm: [float]
- Parameters
-
tm float: Sequence of the time values to complete the task, each element of which corresponds to a set of jointangles in the same order.
- Returns
- bool:
Definition at line 1963 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.readDigitalInput | ( | self | ) |
Read data from Digital Input.
- See also
- : HrpsysConfigurator.readDigitalInput
Digital input consits of 14 bits. The last 2 bits are lacking and compensated, so that the last 4 bits are 0x4 instead of 0x1.
- Returns
- list of int: List of the values (2 octtets) in digital input register. Range: 0 or 1.
#TODO: Catch AttributeError that occurs when RobotHardware not found.
Typically with simulator, erro msg might look like this;
'NoneType' object has no attribute 'readDigitalInput'
Definition at line 1644 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.readDigitalOutput | ( | self | ) |
Read data from Digital Output.
Digital input consits of 14 bits. The last 2 bits are lacking and compensated, so that the last 4 bits are 0x4 instead of 0x1.
#TODO: Catch AttributeError that occurs when RobotHardware not found.
Typically with simulator, erro msg might look like this;
'NoneType' object has no attribute 'readDigitaloutput'
- Returns
- list of int: List of the values in digital input register. Range: 0 or 1.
Definition at line 1670 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.removeForceSensorOffset | ( | self | ) |
remove force sensor offset
Definition at line 1940 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.removeForceSensorOffsetRMFO | ( | self, | |
sensor_names = [], |
|||
tm = 8.0 |
|||
| ) |
remove force sensor offset by RemoveForceSensorOffset (RMFO) RTC.
- Parameters
-
sensor_names : list of sensor names to be calibrated. If not specified, all sensors are calibrated by default. tm : calibration time[s]. 8.0[s] by default.
- Returns
- bool : true if set successfully, false otherwise
Definition at line 2251 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.saveLog | ( | self, | |
fname = 'sample' |
|||
| ) |
Save log to the given file name.
- Parameters
-
fname str: name of the file
Definition at line 1524 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.servoOff | ( | self, | |
jname = 'all', |
|||
wait = True |
|||
| ) |
Turn off servos.
- Parameters
-
jname str: The value 'all' works iteratively for all servos. wait bool: Wait for user's confirmation via GUI
- Returns
- int: 1 = all arm servo off. 2 = all servo on arms and hands off. -1 = Something wrong happened.
Definition at line 1839 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.servoOn | ( | self, | |
jname = 'all', |
|||
destroy = 1, |
|||
tm = 3 |
|||
| ) |
Turn on servos.
Joints need to be calibrated (otherwise error returns).
- Parameters
-
jname str: The value 'all' works iteratively for all servos. destroy int: Not used. tm float: Second to complete.
- Returns
- int: 1 or -1 indicating success or failure, respectively.
Definition at line 1791 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.setFootSteps | ( | self, | |
| footstep, | |||
overwrite_fs_idx = 0 |
|||
| ) |
setFootSteps
- Parameters
-
footstep : FootstepSequence. overwrite_fs_idx : Index to be overwritten. overwrite_fs_idx is used only in walking.
Definition at line 2217 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.setFootStepsWithParam | ( | self, | |
| footstep, | |||
| stepparams, | |||
overwrite_fs_idx = 0 |
|||
| ) |
setFootSteps
- Parameters
-
footstep : FootstepSequence. stepparams : StepParamSeuqnce. overwrite_fs_idx : Index to be overwritten. overwrite_fs_idx is used only in walking.
Definition at line 2225 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.setInterpolationMode | ( | self, | |
| mode | |||
| ) |
Set interpolation mode.
You may need to import OpenHRP in order to pass an argument. For more info See https://github.com/fkanehiro/hrpsys-base/pull/1012#issue-160802911.
- Parameters
-
mode new interpolation mode. Either { OpenHRP.SequencePlayerService.LINEAR, OpenHRP.SequencePlayerService.HOFFARBIB }.
- Returns
- true if set successfully, false otherwise
Definition at line 1197 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.setJointAngle | ( | self, | |
| jname, | |||
| angle, | |||
| tm | |||
| ) |
Set angle to the given joint.
NOTE-1: It's known that this method does not do anything after some group operation is done. TODO: at least need to warn users. NOTE-2: While this method does not check angle value range, any joints could emit position limit over error, which has not yet been thrown by hrpsys so that there's no way to catch on this python client. Worthwhile opening an enhancement ticket at designated issue tracker.
- Parameters
-
jname str: name of joint angle float: In degree. tm float: Time to complete. bool
- Returns
- False upon any problem during execution.
Definition at line 1047 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.setJointAngles | ( | self, | |
| angles, | |||
| tm | |||
| ) |
Set all joint angles.
NOTE: While this method does not check angle value range,
any joints could emit position limit over error, which has not yet
been thrown by hrpsys so that there's no way to catch on this python client.
Worthwhile opening an enhancement ticket at designated issue tracker.
- Parameters
-
angles list of float: In degree. tm float: Time to complete. bool
- Returns
- False upon any problem during execution.
Definition at line 1069 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.setJointAnglesOfGroup | ( | self, | |
| gname, | |||
| pose, | |||
| tm, | |||
wait = True |
|||
| ) |
Set the joint angles to aim.
By default it waits interpolation to be over.
NOTE: While this method does not check angle value range,
any joints could emit position limit over error, which has not yet
been thrown by hrpsys so that there's no way to catch on this python client.
Worthwhile opening an enhancement ticket at designated issue tracker.
- Parameters
-
gname str: Name of the joint group. pose list of float: list of positions and orientations tm float: Time to complete. wait bool: If true, all other subsequent commands wait until the movement commanded by this method call finishes. bool
- Returns
- False upon any problem during execution.
Definition at line 1088 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.setJointAnglesSequence | ( | self, | |
| angless, | |||
| tms | |||
| ) |
Set all joint angles.
len(angless) should be equal to len(tms).
NOTE: While this method does not check angle value range,
any joints could emit position limit over error, which has not yet
been thrown by hrpsys so that there's no way to catch on this python client.
Worthwhile opening an enhancement ticket at designated issue tracker.
- Parameters
-
sequential list of angles in float: In rad tm sequential list of time in float: Time to complete, In Second bool
- Returns
- False upon any problem during execution.
Definition at line 1114 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.setJointAnglesSequenceOfGroup | ( | self, | |
| gname, | |||
| angless, | |||
| tms | |||
| ) |
Set all joint angles.
NOTE: While this method does not check angle value range,
any joints could emit position limit over error, which has not yet
been thrown by hrpsys so that there's no way to catch on this python client.
Worthwhile opening an enhancement ticket at designated issue tracker.
- Parameters
-
gname str: Name of the joint group. sequential list of angles in float: In rad tm sequential list of time in float: Time to complete, In Second bool
- Returns
- False upon any problem during execution.
Definition at line 1133 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.setMaxLogLength | ( | self, | |
| length | |||
| ) |
Set logger's buffer.
- Parameters
-
length int: length of log, if the system runs at 500hz and you want to store 2min, set 2*60*500.
Definition at line 1539 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.setSelfGroups | ( | self | ) |
Set to the hrpsys.SequencePlayer the groups of links and joints that are statically defined as member variables (Groups) within this class.
Definition at line 1027 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.setSensorCalibrationJointAngles | ( | self | ) |
Set joint angles for sensor calibration.
Please override joint angles to avoid self collision.
Definition at line 1995 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.setTargetPose | ( | self, | |
| gname, | |||
| pos, | |||
| rpy, | |||
| tm, | |||
frame_name = None |
|||
| ) |
Move the end-effector to the given absolute pose.
All d* arguments are in meter.
- Parameters
-
gname str: Name of the joint group. pos list of float: In meter. rpy list of float: In radian. tm float: Second to complete the command. This only includes the time taken for execution (i.e. time for planning and other misc. processes are not considered). frame_name str: Name of the frame that this particular command references to.
- Returns
- bool: False if unreachable.
Definition at line 1435 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.setTargetPoseRelative | ( | self, | |
| gname, | |||
| eename, | |||
dx = 0, |
|||
dy = 0, |
|||
dz = 0, |
|||
dr = 0, |
|||
dp = 0, |
|||
dw = 0, |
|||
tm = 10, |
|||
wait = True |
|||
| ) |
Move the end-effector's location relative to its current pose.
Note that because of "relative" nature, the method waits for the commands run previously to finish. Do not get confused with the "wait" argument, which regulates all subsequent commands, not previous ones.
For d*, distance arguments are in meter while rotations are in degree.
Example usage: The following moves RARM_JOINT5 joint 0.1mm forward within 0.1sec.
robot.setTargetPoseRelative('rarm', 'RARM_JOINT5', dx=0.0001, tm=0.1)
- Parameters
-
gname str: Name of the joint group that is to be manipulated. eename str: Name of the joint that the manipulated joint group references to. dx float: In meter. dy float: In meter. dz float: In meter. dr float: In radian. dp float: In radian. dw float: In radian. tm float: Second to complete the command. This only includes the time taken for execution (i.e. time for planning and other misc. processes are not considered). wait bool: If true, all other subsequent commands wait until the movement commanded by this method call finishes.
- Returns
- bool: False if unreachable.
Definition at line 1461 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.setupLogger | ( | self, | |
maxLength = 4000 |
|||
| ) |
Setup logging function.
- Parameters
-
maxLength : max length of data from DataLogger.h #define DEFAULT_MAX_LOG_LENGTH (200*20) if the robot running at 200hz (5msec) 4000 means 20 secs
Definition at line 857 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.startAutoBalancer | ( | self, | |
limbs = None |
|||
| ) |
Start AutoBalancer mode.
- Parameters
-
limbs list of end-effector name to control. If Groups has rarm and larm, rleg, lleg, rarm, larm by default. If Groups is not defined or Groups does not have rarm and larm, rleg and lleg by default.
Definition at line 2032 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.startDefaultUnstableControllers | ( | self, | |
ic_limbs = [], |
|||
abc_limbs = [] |
|||
| ) |
Start default unstable RTCs controller mode.
Currently Stabilzier, AutoBalancer, and ImpedanceController are started based on "Groups" setting. If ic_limbs or abc_limbs is not specified, default setting is set according to "Groups". By default, If the robot has an arm, start impedance for the arm. If the robot has a leg, start st and autobalancer. autobalancer's fixed limbs are all existing arms and legs. Use cases: Biped robot (leg only) : no impedance, start st, start autobalancer with ["rleg", "lleg"]. Dual-arm robot (arm only) : start impedance ["rarm", "larm"], no st, no autobalancer. Dual-arm+biped robot (=humanoid robot) : start impedance ["rarm", "larm"], start st, start autobalancer with ["rleg", "lleg", "rarm", "larm"]. Quadruped robot : same as "humanoid robot" by default.
Definition at line 2150 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.startImpedance | ( | self, | |
| arm, | |||
| kwargs | |||
| ) |
Enable the ImpedanceController RT component.
This method internally calls startImpedance-*, hrpsys version-specific method.
: hrpsys version greather than 315.2.0. : ImpedanceController RTC to be activated on the robot's controller. : From 315.2.0 onward, following arguments are dropped and can be set by self.seq_svc.setWrenches instead of this method. See an example at https://github.com/fkanehiro/hrpsys-base/pull/434/files#diff-6204f002204dd9ae80f203901f155fa9R44:
ref_force[fx, fy, fz] (unit: N) and ref_moment[tx, ty, tz] (unit: Nm) can be set via self.seq_svc.setWrenches. For example:
self.seq_svc.setWrenches([0, 0, 0, 0, 0, 0, fx, fy, fz, tx, ty, tz, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,])
setWrenches takes 6 values per sensor, so the robot in the example above has 4 sensors where each line represents a sensor. See this link (https://github.com/fkanehiro/hrpsys-base/pull/434/files) for a concrete example.
- Parameters
-
arm Name of the kinematic group (i.e. self.Groups[n][0]). kwargs This varies depending on the version of hrpsys your robot's controller runs on (which you can find by "self.hrpsys_version" command). For instance, if your hrpsys is 315.10.1, refer to "startImpedance_315_4" method.
Definition at line 2113 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.startImpedance_315_4 | ( | self, | |
| arm, | |||
M_p = 100.0, |
|||
D_p = 100.0, |
|||
K_p = 100.0, |
|||
M_r = 100.0, |
|||
D_r = 2000.0, |
|||
K_r = 2000.0, |
|||
force_gain = [1, |
|||
moment_gain = [0, |
|||
sr_gain = 1.0, |
|||
avoid_gain = 0.0, |
|||
reference_gain = 0.0, |
|||
manipulability_limit = 0.1, |
|||
controller_mode = None, |
|||
ik_optional_weight_vector = None |
|||
| ) |
start impedance mode
arm: str name of artm to be controlled, this must be initialized using setSelfGroups()
- Parameters
-
force_gain,moment_gain multipliers to the eef offset position vel_p and orientation vel_r. 3-dimensional vector (then converted internally into a diagonal matrix).
Definition at line 2078 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.startStabilizer | ( | self | ) |
Start Stabilzier mode.
Definition at line 2052 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.stopAutoBalancer | ( | self | ) |
Stop AutoBalancer mode.
Definition at line 2046 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.stopDefaultUnstableControllers | ( | self, | |
ic_limbs = [] |
|||
| ) |
Stop default unstable RTCs controller mode.
Currently Stabilzier, AutoBalancer, and ImpedanceController are stopped based on "Groups" setting. Please see documentation of startDefaultUnstableControllers().
Definition at line 2189 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.stopImpedance | ( | self, | |
| arm | |||
| ) |
Definition at line 2144 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.stopImpedance_315_4 | ( | self, | |
| arm | |||
| ) |
stop impedance mode
Definition at line 2107 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.stopStabilizer | ( | self | ) |
Stop Stabilzier mode.
Definition at line 2058 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.waitForModelLoader | ( | self | ) |
Wait for ModelLoader.
Definition at line 1019 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.waitForRobotHardware | ( | self, | |
robotname = "Robot" |
|||
| ) |
Wait for RobotHardware is exists and activated.
- Parameters
-
robotname str: name of RobotHardware component.
Definition at line 947 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.waitForRTCManager | ( | self, | |
managerhost = nshost |
|||
| ) |
Wait for RTC manager.
- Parameters
-
managerhost str: name of host computer that manager is running
Definition at line 933 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.waitForRTCManagerAndRoboHardware | ( | self, | |
robotname = "Robot", |
|||
managerhost = nshost |
|||
| ) |
Definition at line 994 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.waitForRTCManagerAndRobotHardware | ( | self, | |
robotname = "Robot", |
|||
managerhost = nshost |
|||
| ) |
Wait for both RTC Manager (waitForRTCManager()) and RobotHardware (waitForRobotHardware())
- Parameters
-
managerhost str: name of host computer that manager is running robotname str: name of RobotHardware component.
Definition at line 999 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.waitInterpolation | ( | self | ) |
Lets SequencePlayer wait until the movement currently happening to finish.
Definition at line 1177 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.waitInterpolationOfGroup | ( | self, | |
| gname | |||
| ) |
Lets SequencePlayer wait until the movement currently happening to finish.
- See also
- : SequencePlayer.waitInterpolationOfGroup
- : http://wiki.ros.org/joint_trajectory_action. This method corresponds to JointTrajectoryGoal in ROS.
- Parameters
-
gname str: Name of the joint group.
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| def python.hrpsys_config.HrpsysConfigurator.writeDigitalOutput | ( | self, | |
| dout | |||
| ) |
Using writeDigitalOutputWithMask is recommended for the less data transport.
- Parameters
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dout list of int: List of bits, length of 32 bits where elements are 0 or 1.
What each element stands for depends on how the robot's imlemented. Consult the hardware manual.
- Returns
- bool: RobotHardware.writeDigitalOutput returns True if writable. False otherwise.
Definition at line 1558 of file hrpsys_config.py.
| def python.hrpsys_config.HrpsysConfigurator.writeDigitalOutputWithMask | ( | self, | |
| dout, | |||
| mask | |||
| ) |
Both dout and mask are lists with length of 32.
Only the bit in dout that corresponds to the bits in mask that are flagged as 1 will be evaluated.
Example:
Case-1. Only 18th bit will be evaluated as 1. dout [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] mask [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] Case-2. Only 18th bit will be evaluated as 0. dout [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] mask [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] Case-3. None will be evaluated since there's no flagged bit in mask. dout [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] mask [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
- Parameters
-
dout list of int: List of bits, length of 32 bits where elements are 0 or 1. mask list of int: List of masking bits, length of 32 bits where elements are 0 or 1.
- Returns
- bool: RobotHardware.writeDigitalOutput returns True if writable. False otherwise.
Definition at line 1587 of file hrpsys_config.py.
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The documentation for this class was generated from the following file: