[wip/{py-,}sot-talos-balance] Update to v1.7.0

Changes since v1.6.0:
- Python 3 compatibility
- add hip flexibility compensation
- Format

py-sot-talos-balance/Makefile

@@ -4,9 +4,7 @@
 
 ORG=				stack-of-tasks
 NAME=				sot-talos-balance
-VERSION=			1.6.0
-
-PKGNAME=			${PKGTAG.python-}${DISTNAME}
+VERSION=			1.7.0
 
 CATEGORIES=			wip
 COMMENT=			Balance for TALOS humanoid robot (python bindings)

py-sot-talos-balance/PLIST

 @comment Fri Jul 12 15:51:53 CEST 2019
 ${PYTHON_SITELIB}/sot_talos_balance/__init__.py
 ${PYTHON_SITELIB}/sot_talos_balance/admittance_controller_end_effector/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/admittance_controller_end_effector/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/admittance_controller_end_effector/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/ankle_admittance_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/ankle_admittance_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/ankle_admittance_controller/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/ankle_joint_selector/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/ankle_joint_selector/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/ankle_joint_selector/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/boolean_identity/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/boolean_identity/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/boolean_identity/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/com_admittance_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/com_admittance_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/com_admittance_controller/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/coupled_admittance_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/coupled_admittance_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/coupled_admittance_controller/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/create_entities_utils.py
 ${PYTHON_SITELIB}/sot_talos_balance/dcm_com_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/dcm_com_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/dcm_com_controller/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/dcm_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/dcm_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/dcm_controller/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/dcm_estimator/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/dcm_estimator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/dcm_estimator/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/distribute_wrench/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/distribute_wrench/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/distribute_wrench/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/dummy_dcm_estimator/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/dummy_dcm_estimator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/dummy_dcm_estimator/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/dummy_walking_pattern_generator/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/dummy_walking_pattern_generator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/dummy_walking_pattern_generator/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/euler_to_quat/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/euler_to_quat/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/euler_to_quat/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/example/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/example/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/example/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/foot_force_difference_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/foot_force_difference_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/foot_force_difference_controller/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/ft_calibration/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/ft_calibration/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/ft_calibration/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/ft_wrist_calibration/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/ft_wrist_calibration/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/ft_wrist_calibration/wrap.so
+${PYTHON_SITELIB}/sot_talos_balance/hip_flexibility_compensation/__init__.py
+${PYTHON_SITELIB}/sot_talos_balance/hip_flexibility_compensation/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/int_identity/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/int_identity/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/int_identity/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/joint_position_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/joint_position_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/joint_position_controller/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/main.py
 ${PYTHON_SITELIB}/sot_talos_balance/meta_task_config.py
 ${PYTHON_SITELIB}/sot_talos_balance/meta_task_joint.py
 ${PYTHON_SITELIB}/sot_talos_balance/motor_parameters.py
 ${PYTHON_SITELIB}/sot_talos_balance/nd_trajectory_generator/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/nd_trajectory_generator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/nd_trajectory_generator/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/pose_quaternion_to_matrix_homo/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/pose_quaternion_to_matrix_homo/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/pose_quaternion_to_matrix_homo/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/qualisys_client/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/qualisys_client/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/qualisys_client/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/quat_to_euler/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/quat_to_euler/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/quat_to_euler/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/round_double_to_int/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/round_double_to_int/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/round_double_to_int/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/saturation/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/saturation/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/saturation/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/simple_admittance_controller/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/simple_admittance_controller/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_admittance_controller/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/simple_controller_6d/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/simple_controller_6d/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_controller_6d/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/simple_distribute_wrench/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/simple_distribute_wrench/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_distribute_wrench/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/simple_pid/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/simple_pid/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_pid/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/simple_pidd/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/simple_pidd/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_pidd/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/simple_reference_frame/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/simple_reference_frame/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_reference_frame/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/simple_zmp_estimator/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/simple_zmp_estimator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/simple_zmp_estimator/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/state_transformation/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/state_transformation/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/state_transformation/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/talos/__init__.py
 ${PYTHON_SITELIB}/sot_talos_balance/talos/admittance_ctrl_conf.py
 ${PYTHON_SITELIB}/sot_talos_balance/talos/balance_ctrl_conf.py
@@ -86,13 +88,14 @@ ${PYTHON_SITELIB}/sot_talos_balance/talos/force_offset_conf.py
 ${PYTHON_SITELIB}/sot_talos_balance/talos/force_torque_estimator_conf.py
 ${PYTHON_SITELIB}/sot_talos_balance/talos/ft_calibration_conf.py
 ${PYTHON_SITELIB}/sot_talos_balance/talos/ft_wrist_calibration_conf.py
+${PYTHON_SITELIB}/sot_talos_balance/talos/hip_flexibility_compensation_conf.py
 ${PYTHON_SITELIB}/sot_talos_balance/talos/joint_torque_controller_conf.py
 ${PYTHON_SITELIB}/sot_talos_balance/talos/joint_torque_controller_sim_conf.py
 ${PYTHON_SITELIB}/sot_talos_balance/talos/parameter_server_conf.py
 ${PYTHON_SITELIB}/sot_talos_balance/talos_base_estimator/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/talos_base_estimator/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/talos_base_estimator/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/talos_control_manager/__init__.py
-${PYTHON_SITELIB}/sot_talos_balance/talos_control_manager/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/talos_control_manager/wrap.so
 ${PYTHON_SITELIB}/sot_talos_balance/test/__init__.py
 ${PYTHON_SITELIB}/sot_talos_balance/test/appli_COMTraj.py
 ${PYTHON_SITELIB}/sot_talos_balance/test/appli_admittance_end_effector.py
@@ -107,6 +110,7 @@ ${PYTHON_SITELIB}/sot_talos_balance/test/appli_dcm_zmp_control.py
 ${PYTHON_SITELIB}/sot_talos_balance/test/appli_dcm_zmp_control_distribute.py
 ${PYTHON_SITELIB}/sot_talos_balance/test/appli_dcm_zmp_control_ffdc.py
 ${PYTHON_SITELIB}/sot_talos_balance/test/appli_ffSubscriber.py
+${PYTHON_SITELIB}/sot_talos_balance/test/appli_hip_flexibility_compensation.py
 ${PYTHON_SITELIB}/sot_talos_balance/test/appli_simple_ankle_admittance.py
 ${PYTHON_SITELIB}/sot_talos_balance/test/appli_zmpEstimator.py
 ${PYTHON_SITELIB}/sot_talos_balance/test/test_COMTraj.py
@@ -124,6 +128,7 @@ ${PYTHON_SITELIB}/sot_talos_balance/test/test_dcm_zmp_control.py
 ${PYTHON_SITELIB}/sot_talos_balance/test/test_dcm_zmp_control_distribute.py
 ${PYTHON_SITELIB}/sot_talos_balance/test/test_dcm_zmp_control_ffdc.py
 ${PYTHON_SITELIB}/sot_talos_balance/test/test_ffSubscriber.py
+${PYTHON_SITELIB}/sot_talos_balance/test/test_hip_flexibility_compensation.py
 ${PYTHON_SITELIB}/sot_talos_balance/test/test_jointControl.py
 ${PYTHON_SITELIB}/sot_talos_balance/test/test_jointTrajGen.py
 ${PYTHON_SITELIB}/sot_talos_balance/test/test_param_server.py
@@ -137,4 +142,4 @@ ${PYTHON_SITELIB}/sot_talos_balance/utils/gazebo_utils.py
 ${PYTHON_SITELIB}/sot_talos_balance/utils/plot_utils.py
 ${PYTHON_SITELIB}/sot_talos_balance/utils/run_test_utils.py
 ${PYTHON_SITELIB}/sot_talos_balance/utils/sot_utils.py
-${PYTHON_SITELIB}/sot_talos_balance/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/sot_talos_balance/wrap.so

py-sot-talos-balance/distinfo

-SHA1 (sot-talos-balance-1.6.0.tar.gz) = 33631c1be593df70fcb547c6feb85f4eedf85389
-RMD160 (sot-talos-balance-1.6.0.tar.gz) = 30d993f505a406ce64849a75547fd8172e48c034
-Size (sot-talos-balance-1.6.0.tar.gz) = 8534159 bytes
+SHA1 (sot-talos-balance-1.7.0.tar.gz) = 40cc2917f3ee53bd02015f3a546b8a19ea79a4d7
+RMD160 (sot-talos-balance-1.7.0.tar.gz) = 0d2601a204b9e972e63d2f6326cf7136bb0f6bb3
+Size (sot-talos-balance-1.7.0.tar.gz) = 8568339 bytes

sot-talos-balance/Makefile

@@ -4,7 +4,7 @@
 
 ORG=				stack-of-tasks
 NAME=				sot-talos-balance
-VERSION=			1.6.0
+VERSION=			1.7.0
 
 CATEGORIES=			wip
 COMMENT=			Balance for TALOS humanoid robot

sot-talos-balance/PLIST

@@ -47,6 +47,8 @@ lib/plugin/ft-calibration.so
 lib/plugin/ft-calibration.so.${PKGVERSION}
 lib/plugin/ft-wrist-calibration.so
 lib/plugin/ft-wrist-calibration.so.${PKGVERSION}
+lib/plugin/hip-flexibility-compensation.so
+lib/plugin/hip-flexibility-compensation.so.${PKGVERSION}
 lib/plugin/int-identity.so
 lib/plugin/int-identity.so.${PKGVERSION}
 lib/plugin/joint-position-controller.so
@@ -112,6 +114,7 @@ share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/RightFoot
 share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/WaistOrientation.dat
 share/sot_talos_balance/data/TestKajita2003WalkingOnSpot64/DSP20SSP780/ZMP.dat
 share/sot_talos_balance/launch/spawn_ramp.launch
+share/sot_talos_balance/launch/talos_gazebo_flex.launch
 share/sot_talos_balance/launch/talos_gazebo_half_sitting.launch
 share/sot_talos_balance/launch/talos_gazebo_testEE.launch
 share/sot_talos_balance/launch/talos_gazebo_testEE_calibration.launch

sot-talos-balance/distinfo

-SHA1 (sot-talos-balance-1.6.0.tar.gz) = 33631c1be593df70fcb547c6feb85f4eedf85389
-RMD160 (sot-talos-balance-1.6.0.tar.gz) = 30d993f505a406ce64849a75547fd8172e48c034
-Size (sot-talos-balance-1.6.0.tar.gz) = 8534159 bytes
+SHA1 (sot-talos-balance-1.7.0.tar.gz) = 40cc2917f3ee53bd02015f3a546b8a19ea79a4d7
+RMD160 (sot-talos-balance-1.7.0.tar.gz) = 0d2601a204b9e972e63d2f6326cf7136bb0f6bb3
+Size (sot-talos-balance-1.7.0.tar.gz) = 8568339 bytes