samplerobot_auto_balancer Namespace Reference

Functions
def	calcDiffFootMidCoords (prev_dst_foot_midcoords)
def	calcVelListFromPosList (pos_list, dt)
def	checkActualBaseAttitude (ref_rpy=None, thre=0.1)
def	checkGoPosParam (goalx, goaly, goalth, prev_dst_foot_midcoords)
def	checkParameterFromLog (port_name, log_fname="/tmp/test-samplerobot-auto-balancer-check-param", save_log=True, rtc_name="SampleRobot(Robot)0")
def	checkTooLargeABCCogAcc (acc_thre=5.0)
def	defJointGroups ()
def	demo ()
def	demoAutoBalancerBalanceAgainstHandForce ()
def	demoAutoBalancerBalanceWithArms ()
def	demoAutoBalancerFixFeet ()
def	demoAutoBalancerFixFeetHands ()
def	demoAutoBalancerGetParam ()
def	demoAutoBalancerSetParam ()
def	demoAutoBalancerStartStopCheck ()
def	demoAutoBalancerTestPoses ()
def	demoGaitGeneratorBaseTformCheck ()
def	demoGaitGeneratorChangePoseWhileWalking ()
def	demoGaitGeneratorChangeStepParam ()
def	demoGaitGeneratorChangeStrideLimitationType ()
def	demoGaitGeneratorEmergencyStop ()
def	demoGaitGeneratorFixHand ()
def	demoGaitGeneratorGetParam ()
def	demoGaitGeneratorGetRemainingSteps ()
def	demoGaitGeneratorGoPos ()
def	demoGaitGeneratorGoPosOverwrite ()
def	demoGaitGeneratorGoVelocity ()
def	demoGaitGeneratorGrasplessManipMode ()
def	demoGaitGeneratorNonDefaultStrideStop ()
def	demoGaitGeneratorOverwriteCurrentFootstep ()
def	demoGaitGeneratorOverwriteFootsteps (overwrite_offset_idx=1)
def	demoGaitGeneratorOverwriteFootstepsBase (axis, overwrite_offset_idx=1, init_fs=False)
def	demoGaitGeneratorSetFootSteps ()
def	demoGaitGeneratorSetFootStepsWithArms ()
def	demoGaitGeneratorSetParam ()
def	demoGaitGeneratorStopStartSyncCheck ()
def	demoGaitGeneratorToeHeelContact ()
def	demoStandingPosResetting ()
def	init ()
def	Quaternion2Angle (q)
def	Quaternion2RotMatrixZ (q)
def	saveLogForCheckParameter (log_fname="/tmp/test-samplerobot-auto-balancer-check-param")
def	testPoseList (pose_list, initial_pose)

Function Documentation

def samplerobot_auto_balancer.calcDiffFootMidCoords

(

prev_dst_foot_midcoords

)

Calculate difference from previous dst_foot_midcoords and current dst_foot_midcoords.
Returns difx, dify, difth, which are gopos parameters

Definition at line 83 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.calcVelListFromPosList	(		pos_list,
			dt
	)

Calculate velocity list from position list.
Element of pos_list and vel_list should be list like [0,0,0].

Definition at line 105 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.checkActualBaseAttitude	(		ref_rpy = None,
			thre = 0.1
	)

Check whether the robot falls down based on actual robot base-link attitude.

Definition at line 60 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.checkGoPosParam	(		goalx,
			goaly,
			goalth,
			prev_dst_foot_midcoords
	)

Check whether goPos argument are correctly achieved based on dst_foot_midcoords values.
goPos params should be "new_dst_foot_midcoords - prev_dst_foot_midcoords"

Definition at line 93 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.checkParameterFromLog	(		port_name,
			log_fname = "/tmp/test-samplerobot-auto-balancer-check-param",
			save_log = True,
			rtc_name = "SampleRobot(Robot)0"
	)

Definition at line 55 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.checkTooLargeABCCogAcc

(

acc_thre = 5.0

)

Check ABC too large cog acceleration.
This is used discontinuous cog trajectory.

Definition at line 116 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.defJointGroups

(

)

Definition at line 16 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demo

(

)

Definition at line 772 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoAutoBalancerBalanceAgainstHandForce

(

)

Definition at line 208 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoAutoBalancerBalanceWithArms

(

)

Definition at line 224 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoAutoBalancerFixFeet

(

)

Definition at line 138 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoAutoBalancerFixFeetHands

(

)

Definition at line 149 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoAutoBalancerGetParam

(

)

Definition at line 160 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoAutoBalancerSetParam

(

)

Definition at line 166 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoAutoBalancerStartStopCheck

(

)

Definition at line 189 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoAutoBalancerTestPoses

(

)

Definition at line 182 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorBaseTformCheck

(

)

Definition at line 241 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorChangePoseWhileWalking

(

)

Definition at line 348 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorChangeStepParam

(

)

Definition at line 461 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorChangeStrideLimitationType

(

)

Definition at line 735 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorEmergencyStop

(

)

Definition at line 434 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorFixHand

(

)

Definition at line 549 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorGetParam

(

)

Definition at line 356 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorGetRemainingSteps

(

)

Definition at line 449 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorGoPos

(

)

Definition at line 298 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorGoPosOverwrite

(

)

Definition at line 613 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorGoVelocity

(

)

Definition at line 319 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorGrasplessManipMode

(

)

Definition at line 640 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorNonDefaultStrideStop

(

)

Definition at line 379 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorOverwriteCurrentFootstep

(

)

Definition at line 589 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorOverwriteFootsteps

(

overwrite_offset_idx = 1

)

Definition at line 499 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorOverwriteFootstepsBase	(		axis,
			overwrite_offset_idx = 1,
			init_fs = False
	)

Definition at line 512 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorSetFootSteps

(

)

Definition at line 335 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorSetFootStepsWithArms

(

)

Definition at line 704 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorSetParam

(

)

Definition at line 362 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorStopStartSyncCheck

(

)

Definition at line 408 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoGaitGeneratorToeHeelContact

(

)

Definition at line 390 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.demoStandingPosResetting

(

)

Definition at line 765 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.init

(

)

Definition at line 25 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.Quaternion2Angle

(

q

)

Definition at line 71 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.Quaternion2RotMatrixZ

(

q

)

Definition at line 76 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.saveLogForCheckParameter

(

log_fname = "/tmp/test-samplerobot-auto-balancer-check-param"

)

Definition at line 52 of file samplerobot_auto_balancer.py.

def samplerobot_auto_balancer.testPoseList	(		pose_list,
			initial_pose
	)

Definition at line 45 of file samplerobot_auto_balancer.py.