dynamic_pinocchio.humanoid_robot.AbstractRobot Class Reference

Inheritance diagram for dynamic_pinocchio.humanoid_robot.AbstractRobot:

Public Member Functions
def	__del__ (self)
def	__init__ (self, name, tracer=None)
def	addTrace (self, entityName, signalName)
def	createFrame (self, frameName, transformation, operationalPoint)
def	defineHalfSitting (self, q)
def	getActuatedJoints (self)
def	help (self)
def	initializeOpPoints (self)
def	initializeRobot (self)
def	initializeTracer (self)
def	loadModelFromString (self, urdfString, rootJointType=pinocchio.JointModelFreeFlyer, removeMimicJoints=True)
def	loadModelFromUrdf (self, urdfPath, urdfDir=None, rootJointType=pinocchio.JointModelFreeFlyer, removeMimicJoints=True)
def	removeJoints (self, joints)
def	reset (self, posture=None)
def	setJointValueInConfig (self, q, jointNames, jointValues)
def	startTracer (self)
def	stopTracer (self)
def	traceDefaultSignals (self)

Public Attributes
	accelerationDerivator
	AdditionalFrames
	autoRecomputedSignals
	device
	enableAccelerationDerivator
	enableVelocityDerivator
	enableZmpComputation
	frames
	halfSitting
	name
	OperationalPoints
	pinocchioData
	pinocchioModel
	rootJointType
	timeStep
	tracedSignals
	tracer
	tracerSize
	velocityDerivator

Private Member Functions
def	_initialize (self)
def	_removeMimicJoints (self, urdfFile=None, urdfString=None)
def	_storeRootJointType (self, rootJointType)

Detailed Description

This class instantiates all the entities required to get a consistent
representation of a robot, mainly:
  - device : to integrate velocities into angular control,
  - dynamic: to compute forward geometry and kinematics,
  - zmpFromForces: to compute ZMP force foot force sensors,
  - stabilizer: to stabilize balanced motions

Operational points are stored into 'OperationalPoints' list. Some of them
are also accessible directly as attributes:
  - leftWrist,
  - rightWrist,
  - leftAnkle,
  - rightAnkle,
  - Gaze.

Operational points are mapped to the actual joints in the robot model
via 'OperationalPointsMap' dictionary.
This attribute *must* be defined in the subclasses

Other attributes require to be defined:
    - halfSitting: half-sitting position is the robot initial pose.
        This attribute *must* be defined in subclasses.

    - dynamic: The robot dynamic model.

    - device: The device that integrates the dynamic equation, namely
        the real robot or
        a simulator

    - dimension: The configuration size.

Definition at line 26 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

Constructor & Destructor Documentation

__init__()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.__init__	(		self,
			name,
			tracer = None
	)

Reimplemented in dynamic_pinocchio.humanoid_robot.AbstractHumanoidRobot.

Definition at line 413 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

__del__()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.__del__

(

self

)

Definition at line 422 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

Member Function Documentation

_initialize()

def dynamic_pinocchio.humanoid_robot.AbstractRobot._initialize (   self )

private

Reimplemented in dynamic_pinocchio.humanoid_robot.AbstractHumanoidRobot.

Definition at line 60 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

_removeMimicJoints()

def dynamic_pinocchio.humanoid_robot.AbstractRobot._removeMimicJoints (   self,   urdfFile = None,   urdfString = None  )

private

Parse the URDF, extract the mimic joints and call removeJoints.

Definition at line 139 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

_storeRootJointType()

def dynamic_pinocchio.humanoid_robot.AbstractRobot._storeRootJointType (   self,   rootJointType  )

private

Definition at line 164 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

addTrace()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.addTrace	(		self,
			entityName,
			signalName
	)

Definition at line 378 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

createFrame()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.createFrame	(		self,
			frameName,
			transformation,
			operationalPoint
	)

Definition at line 262 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

defineHalfSitting()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.defineHalfSitting	(		self,
			q
	)

Define half sitting configuration using the pinocchio Model (i.e.
with quaternions and not with euler angles).

method setJointValueInConfig may be usefull to implement this function.

Definition at line 284 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

getActuatedJoints()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.getActuatedJoints

(

self

)

Return the list of indices in the velocity vector of actuated
joints.

This method is particularly useful to define a posture task where only
the actuated joints are controlled.

Definition at line 471 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

help()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.help

(

self

)

Definition at line 136 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

initializeOpPoints()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.initializeOpPoints

(

self

)

Definition at line 258 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

initializeRobot()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.initializeRobot

(

self

)

If the robot model is correctly loaded, this method will then
initialize the operational points, set the position to
half-sitting with null velocity/acceleration.

To finish, different tasks are initialized:
- the center of mass task used to keep the robot stability
- one task per operational point to ease robot control

Definition at line 293 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

initializeTracer()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.initializeTracer

(

self

)

Definition at line 383 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

loadModelFromString()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.loadModelFromString	(		self,
			urdfString,
			rootJointType = pinocchio.JointModelFreeFlyer,
			removeMimicJoints = True
	)

Load a URDF model contained in a string
- param rootJointType: the root joint type. None for no root joint.
- param removeMimicJoints: if True, all the mimic joints found in the model
  are removed.

Definition at line 192 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

loadModelFromUrdf()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.loadModelFromUrdf	(		self,
			urdfPath,
			urdfDir = None,
			rootJointType = pinocchio.JointModelFreeFlyer,
			removeMimicJoints = True
	)

Load a model using the pinocchio urdf parser. This parser looks
for urdf files in which kinematics and dynamics information
have been added.
- param urdfPath: a path to the URDF file.
- param urdfDir: A list of directories. If None, will use ROS_PACKAGE_PATH.

Definition at line 214 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

removeJoints()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.removeJoints	(		self,
			joints
	)

- param joints: a list of joint names to be removed from the self.pinocchioModel

Definition at line 177 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

reset()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.reset	(		self,
			posture = None
	)

Restart the control from another position.

This method has not been extensively tested and
should be used carefully.

In particular, tasks should be removed from the
solver before attempting a reset.

Definition at line 446 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

setJointValueInConfig()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.setJointValueInConfig	(		self,
			q,
			jointNames,
			jointValues
	)

q: configuration to update
jointNames: list of existing joint names in self.pinocchioModel
jointValues: corresponding joint values.

Definition at line 271 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

startTracer()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.startTracer

(

self

)

Start the tracer if it does not already been stopped.

Definition at line 426 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

stopTracer()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.stopTracer

(

self

)

Stop and destroy tracer.

Definition at line 433 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

traceDefaultSignals()

def dynamic_pinocchio.humanoid_robot.AbstractRobot.traceDefaultSignals

(

self

)

Definition at line 391 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

Member Data Documentation

accelerationDerivator

dynamic_pinocchio.humanoid_robot.AbstractRobot.accelerationDerivator

Definition at line 367 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

AdditionalFrames

dynamic_pinocchio.humanoid_robot.AbstractRobot.AdditionalFrames

Definition at line 74 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

autoRecomputedSignals

dynamic_pinocchio.humanoid_robot.AbstractRobot.autoRecomputedSignals

Definition at line 120 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

device

dynamic_pinocchio.humanoid_robot.AbstractRobot.device

Definition at line 308 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

enableAccelerationDerivator

dynamic_pinocchio.humanoid_robot.AbstractRobot.enableAccelerationDerivator

Definition at line 101 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

enableVelocityDerivator

dynamic_pinocchio.humanoid_robot.AbstractRobot.enableVelocityDerivator

Definition at line 97 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

enableZmpComputation

dynamic_pinocchio.humanoid_robot.AbstractRobot.enableZmpComputation

Definition at line 105 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

frames

dynamic_pinocchio.humanoid_robot.AbstractRobot.frames

Definition at line 87 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

halfSitting

dynamic_pinocchio.humanoid_robot.AbstractRobot.halfSitting

Definition at line 321 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

name

dynamic_pinocchio.humanoid_robot.AbstractRobot.name

Definition at line 416 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

OperationalPoints

dynamic_pinocchio.humanoid_robot.AbstractRobot.OperationalPoints

Definition at line 61 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

pinocchioData

dynamic_pinocchio.humanoid_robot.AbstractRobot.pinocchioData

Definition at line 190 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

pinocchioModel

dynamic_pinocchio.humanoid_robot.AbstractRobot.pinocchioModel

Definition at line 187 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

rootJointType

dynamic_pinocchio.humanoid_robot.AbstractRobot.rootJointType

Definition at line 166 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

timeStep

dynamic_pinocchio.humanoid_robot.AbstractRobot.timeStep

Definition at line 313 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

tracedSignals

dynamic_pinocchio.humanoid_robot.AbstractRobot.tracedSignals

Definition at line 124 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

tracer

dynamic_pinocchio.humanoid_robot.AbstractRobot.tracer

Definition at line 109 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

tracerSize

dynamic_pinocchio.humanoid_robot.AbstractRobot.tracerSize

Definition at line 113 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

velocityDerivator

dynamic_pinocchio.humanoid_robot.AbstractRobot.velocityDerivator

Definition at line 355 of file src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py.

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The documentation for this class was generated from the following file:

• src/dynamic_graph/sot/dynamic_pinocchio/humanoid_robot.py