Functions
def	calcDiffFootMidCoords
def	calcVelListFromPosList
def	checkActualBaseAttitude
def	checkGoPosParam
def	checkParameterFromLog
def	checkTooLargeABCCogAcc
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
def	demoGaitGeneratorOverwriteFootstepsBase
def	demoGaitGeneratorSetFootSteps
def	demoGaitGeneratorSetFootStepsWithArms
def	demoGaitGeneratorSetParam
def	demoGaitGeneratorStopStartSyncCheck
def	demoGaitGeneratorToeHeelContact
def	demoStandingPosResetting
def	init
def	Quaternion2Angle
def	Quaternion2RotMatrixZ
def	saveLogForCheckParameter
def	testPoseList

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.

Functions

Function Documentation