Public Member Functions
def	__init__
def	activateComps
	Activate components(plugins)
def	calibrateInertiaSensor
	Calibrate inertia sensor.
def	calibrateInertiaSensorWithDialog
	Calibrate inertia sensor with dialog and setting calibration pose.
def	checkEncoders
	Run the encoder checking sequence for specified joints, run goActual and turn on servos.
def	checkSimulationMode
	Check if this is running as simulation.
def	clear
	Clears the Sequencer's current operation.
def	clearJointAngles
	Cancels the commanded sequence of joint angle, by overwriting the command by the values of instant the method was invoked.
def	clearJointAnglesOfGroup
	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.
def	clearLog
	Clear logger's buffer.
def	clearOfGroup
	Clears the Sequencer's current operation for joint groups.
def	connectComps
	Connect components(plugins)
def	connectLoggerPort
	Connect port to logger.
def	createComp
	Create RTC component (plugins)
def	createComps
	Create components(plugins) in getRTCList()
def	deactivateComps
	Deactivate components(plugins)
def	deleteComp
	Delete RTC component (plugins)
def	deleteComps
	Delete components(plugins) in getRTCInstanceList()
def	findComp
	Find component(plugin)
def	findComps
	Check if all components in getRTCList() are created.
def	findModelLoader
	Try to find ModelLoader.
def	flat2Groups
	Convert list of angles into list of joint list for each groups.
def	getActualState
	Get actual states of the robot that includes current reference joint angles and joint torques.
def	getBodyInfo
	Get bodyInfo.
def	getCurrentPose
	Returns the current physical pose of the specified joint in the joint space.
def	getCurrentPosition
	Returns the current physical position of the specified joint in Cartesian space.
def	getCurrentRotation
	Returns the current physical rotation of the specified joint.
def	getCurrentRPY
	Returns the current physical rotation in RPY of the specified joint.
def	getForceSensorNames
	Get list of force sensor names.
def	getJointAngleControllerList
	Get list of controller list that need to control joint angles.
def	getJointAngles
	Returns the commanded joint angle values.
def	getReferencePose
	Returns the current commanded pose of the specified joint in the joint space.
def	getReferencePosition
	Returns the current commanded position of the specified joint in Cartesian space.
def	getReferenceRotation
	Returns the current commanded rotation of the specified joint.
def	getReferenceRPY
	Returns the current commanded rotation in RPY of the specified joint.
def	getRTCInstanceList
	Get list of RTC Instance.
def	getRTCList
	Get list of available STABLE components.
def	getRTCListUnstable
	Get list of available components including stable and unstable.
def	getSensors
	Get list of sensors.
def	goActual
	Adjust commanded values to the angles in the physical state by calling StateHolder::goActual.
def	init
	Calls init from its superclass, which tries to connect RTCManager, looks for ModelLoader, and starts necessary RTC components.
def	isCalibDone
	Check whether joints have been calibrated.
def	isServoOn
	Check whether servo control has been turned on.
def	lengthDigitalInput
	Returns the length of digital input port.
def	lengthDigitalOutput
	Returns the length of digital output port.
def	loadPattern
	Load a pattern file that is created offline.
def	parseUrl
def	playPattern
	Play motion pattern using a given trajectory that is represented by a list of joint angles, rpy, zmp and time.
def	playPatternOfGroup
	Play motion pattern using a set of given trajectories that are represented by lists of joint angles.
def	readDigitalInput
	Read data from Digital Input.
def	readDigitalOutput
	Read data from Digital Output.
def	removeForceSensorOffset
	remove force sensor offset
def	removeForceSensorOffsetRMFO
	remove force sensor offset by RemoveForceSensorOffset (RMFO) RTC.
def	saveLog
	Save log to the given file name.
def	servoOff
	Turn off servos.
def	servoOn
	Turn on servos.
def	setFootSteps
	setFootSteps
def	setFootStepsWithParam
	setFootSteps
def	setInterpolationMode
	Set interpolation mode.
def	setJointAngle
	Set angle to the given joint.
def	setJointAngles
	Set all joint angles.
def	setJointAnglesOfGroup
	Set the joint angles to aim.
def	setJointAnglesSequence
	Set all joint angles.
def	setJointAnglesSequenceOfGroup
	Set all joint angles.
def	setMaxLogLength
	Set logger's buffer.
def	setSelfGroups
	Set to the hrpsys.SequencePlayer the groups of links and joints that are statically defined as member variables (Groups) within this class.
def	setSensorCalibrationJointAngles
	Set joint angles for sensor calibration.
def	setTargetPose
	Move the end-effector to the given absolute pose.
def	setTargetPoseRelative
	Move the end-effector's location relative to its current pose.
def	setupLogger
	Setup logging function.
def	startAutoBalancer
	Start AutoBalancer mode.
def	startDefaultUnstableControllers
	Start default unstable RTCs controller mode.
def	startImpedance
	Enable the ImpedanceController RT component.
def	startImpedance_315_4
	start impedance mode
def	startStabilizer
	Start Stabilzier mode.
def	stopAutoBalancer
	Stop AutoBalancer mode.
def	stopDefaultUnstableControllers
	Stop default unstable RTCs controller mode.
def	stopImpedance
def	stopImpedance_315_4
	stop impedance mode
def	stopStabilizer
	Stop Stabilzier mode.
def	waitForModelLoader
	Wait for ModelLoader.
def	waitForRobotHardware
	Wait for RobotHardware is exists and activated.
def	waitForRTCManager
	Wait for RTC manager.
def	waitForRTCManagerAndRoboHardware
def	waitForRTCManagerAndRobotHardware
	Wait for both RTC Manager (waitForRTCManager()) and RobotHardware (waitForRobotHardware())
def	waitInterpolation
	Lets SequencePlayer wait until the movement currently happening to finish.
def	waitInterpolationOfGroup
	Lets SequencePlayer wait until the movement currently happening to finish.
def	writeDigitalOutput
	Using writeDigitalOutputWithMask is recommended for the less data transport.
def	writeDigitalOutputWithMask
	Both dout and mask are lists with length of 32.
Public Attributes
	configurator_name
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
	kinematics_only_mode = False
	log = None
	log_svc = None
	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 2305 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 2001 of file hrpsys_config.py.

def python.hrpsys_config.HrpsysConfigurator.calibrateInertiaSensorWithDialog ( self )

Calibrate inertia sensor with dialog and setting calibration pose.

Definition at line 2007 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 1886 of file hrpsys_config.py.

def python.hrpsys_config.HrpsysConfigurator.checkSimulationMode ( self )

Check if this is running as simulation.

Definition at line 973 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 1506 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 2232 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 2240 of file hrpsys_config.py.

def python.hrpsys_config.HrpsysConfigurator.clearLog ( self )

Clear logger's buffer.

Definition at line 1531 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 1516 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 1008 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 1775 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 1692 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 1217 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 1270 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 1295 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 1320 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 1203 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 1338 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 1370 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 1390 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 1415 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 1036 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 2262 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 1728 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 1742 of file hrpsys_config.py.

def python.hrpsys_config.HrpsysConfigurator.lengthDigitalInput ( self )

Returns the length of digital input port.

Definition at line 1544 of file hrpsys_config.py.

def python.hrpsys_config.HrpsysConfigurator.lengthDigitalOutput ( self )

Returns the length of digital output port.

Definition at line 1550 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 1151 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 1944 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 1961 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.

Author:: Hajime Saito (@emijah)

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 1642 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'

Author:: Hajime Saito (@emijah)

Returns:: list of int: List of the values in digital input register. Range: 0 or 1.

Definition at line 1668 of file hrpsys_config.py.

def python.hrpsys_config.HrpsysConfigurator.removeForceSensorOffset ( self )

remove force sensor offset

Definition at line 1938 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 2249 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 1522 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 1837 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 1789 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 2215 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 2223 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 1195 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 1045 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 1067 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 1086 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 1112 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 1131 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 1537 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 1025 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 1993 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 1433 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 1458 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 2030 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 2148 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 2111 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 2062 of file hrpsys_config.py.

def python.hrpsys_config.HrpsysConfigurator.startStabilizer ( self )

Start Stabilzier mode.

Definition at line 2050 of file hrpsys_config.py.

def python.hrpsys_config.HrpsysConfigurator.stopAutoBalancer ( self )

Stop AutoBalancer mode.

Definition at line 2044 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 2187 of file hrpsys_config.py.

def python.hrpsys_config.HrpsysConfigurator.stopImpedance	(	self,
		arm
	)

Definition at line 2142 of file hrpsys_config.py.

def python.hrpsys_config.HrpsysConfigurator.stopImpedance_315_4	(	self,
		arm
	)

stop impedance mode

Definition at line 2105 of file hrpsys_config.py.

def python.hrpsys_config.HrpsysConfigurator.stopStabilizer ( self )

Stop Stabilzier mode.

Definition at line 2056 of file hrpsys_config.py.

def python.hrpsys_config.HrpsysConfigurator.waitForModelLoader ( self )

Wait for ModelLoader.

Definition at line 1017 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 945 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 931 of file hrpsys_config.py.

def python.hrpsys_config.HrpsysConfigurator.waitForRTCManagerAndRoboHardware	(	self,
		robotname = `"Robot"`,
		managerhost = `nshost`
	)

Definition at line 992 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 997 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 1175 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.

Definition at line 1182 of file hrpsys_config.py.

def python.hrpsys_config.HrpsysConfigurator.writeDigitalOutput	(	self,
		dout
	)

Using writeDigitalOutputWithMask is recommended for the less data transport.

Parameters:

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 1556 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.