Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
loco-3d
sot-talos-balance
Commits
f29e3871
Commit
f29e3871
authored
Nov 14, 2020
by
Guilhem Saurel
Browse files
[Python] format
parent
d7667c25
Changes
85
Expand all
Hide whitespace changes
Inline
Side-by-side
setup.cfg
0 → 100644
View file @
f29e3871
[flake8]
max-line-length = 119
exclude = cmake
ignore = N801,N802,N803,N806,N816
src/dynamic_graph/sot_talos_balance/create_entities_utils.py
View file @
f29e3871
...
...
@@ -3,43 +3,26 @@ from time import sleep
import
numpy
as
np
from
dynamic_graph
import
plug
from
dynamic_graph.sot.core.madgwickahrs
import
MadgwickAHRS
from
dynamic_graph.sot.core.operator
import
(
Component_of_vector
,
MatrixHomoToPoseQuaternion
,
MatrixHomoToPoseRollPitchYaw
,
Mix_of_vector
,
PoseRollPitchYawToMatrixHomo
,
Selec_of_vector
)
from
dynamic_graph.sot.core.operator
import
Mix_of_vector
,
Selec_of_vector
from
dynamic_graph.sot.core.parameter_server
import
ParameterServer
from
dynamic_graph.sot_talos_balance.admittance_controller_end_effector
import
AdmittanceControllerEndEffector
from
dynamic_graph.sot_talos_balance.ankle_admittance_controller
import
AnkleAdmittanceController
from
dynamic_graph.sot_talos_balance.ankle_joint_selector
import
AnkleJointSelector
from
dynamic_graph.sot_talos_balance.boolean_identity
import
BooleanIdentity
from
dynamic_graph.sot_talos_balance.com_admittance_controller
import
ComAdmittanceController
from
dynamic_graph.sot_talos_balance.dcm_com_controller
import
DcmComController
from
dynamic_graph.sot_talos_balance.dcm_controller
import
DcmController
from
dynamic_graph.sot_talos_balance.dcm_estimator
import
DcmEstimator
from
dynamic_graph.sot_talos_balance.delay
import
DelayVector
from
dynamic_graph.sot_talos_balance.distribute_wrench
import
DistributeWrench
from
dynamic_graph.sot_talos_balance.dummy_dcm_estimator
import
DummyDcmEstimator
from
dynamic_graph.sot_talos_balance.dummy_walking_pattern_generator
import
DummyWalkingPatternGenerator
from
dynamic_graph.sot_talos_balance.euler_to_quat
import
EulerToQuat
from
dynamic_graph.sot_talos_balance.example
import
Example
from
dynamic_graph.sot_talos_balance.foot_force_difference_controller
import
FootForceDifferenceController
from
dynamic_graph.sot_talos_balance.ft_calibration
import
FtCalibration
from
dynamic_graph.sot_talos_balance.ft_wrist_calibration
import
FtWristCalibration
from
dynamic_graph.sot_talos_balance.hip_flexibility_compensation
import
HipFlexibilityCompensation
from
dynamic_graph.sot_talos_balance.int_identity
import
IntIdentity
from
dynamic_graph.sot_talos_balance.joint_position_controller
import
JointPositionController
from
dynamic_graph.sot_talos_balance.nd_trajectory_generator
import
NdTrajectoryGenerator
from
dynamic_graph.sot_talos_balance.pose_quaternion_to_matrix_homo
import
PoseQuaternionToMatrixHomo
from
dynamic_graph.sot_talos_balance.qualisys_client
import
QualisysClient
from
dynamic_graph.sot_talos_balance.quat_to_euler
import
QuatToEuler
from
dynamic_graph.sot_talos_balance.round_double_to_int
import
RoundDoubleToInt
from
dynamic_graph.sot_talos_balance.simple_admittance_controller
import
SimpleAdmittanceController
from
dynamic_graph.sot_talos_balance.simple_distribute_wrench
import
SimpleDistributeWrench
from
dynamic_graph.sot_talos_balance.simple_pid
import
SimplePID
from
dynamic_graph.sot_talos_balance.simple_pidd
import
SimplePIDD
from
dynamic_graph.sot_talos_balance.simple_reference_frame
import
SimpleReferenceFrame
from
dynamic_graph.sot_talos_balance.simple_state_integrator
import
SimpleStateIntegrator
from
dynamic_graph.sot_talos_balance.simple_zmp_estimator
import
SimpleZmpEstimator
from
dynamic_graph.sot_talos_balance.state_transformation
import
StateTransformation
from
dynamic_graph.sot_talos_balance.talos_base_estimator
import
TalosBaseEstimator
from
dynamic_graph.sot_talos_balance.talos_control_manager
import
TalosControlManager
# python
...
...
src/dynamic_graph/sot_talos_balance/extract_torque_motorenc_joint_enc_batteries.py
View file @
f29e3871
import
subprocess
import
yaml
import
rosbag
import
rospy
import
yaml
bagname
=
'2017-07-24-08-04-30.bag'
...
...
@@ -64,9 +65,11 @@ def extract_data():
diff_nanosecs
=
1000000000
+
diff_nanosecs
diff_secs
=
diff_secs
-
1
afile
.
write
(
str
(
messages
[
jn
].
motorenc
)
+
' '
+
str
(
messages
[
jn
].
jointenc
)
+
' '
+
str
(
messages
[
jn
].
torquesensor
)
+
' '
+
str
(
messages
[
jn
].
current
)
+
' '
+
str
(
diff_secs
)
+
'.'
+
str
(
diff_nanosecs
).
zfill
(
9
)
+
'
\n
'
)
afile
.
write
(
' '
.
join
(
str
(
m
)
for
m
in
[
messages
[
jn
].
motorenc
,
messages
[
jn
].
jointenc
,
messages
[
jn
].
torquesensor
,
messages
[
jn
].
current
,
diff_secs
])
+
'.'
+
str
(
diff_nanosecs
).
zfill
(
9
)
+
'
\n
'
)
for
jn
in
jointnames
:
files
[
jn
].
close
()
...
...
@@ -83,11 +86,12 @@ def extract_batteries_data():
diff_nanosecs
=
1000000000
+
diff_nanosecs
diff_secs
=
diff_secs
-
1
f
.
write
(
str
(
aps
.
message
.
charge
)
+
' '
+
str
(
aps
.
message
.
current
)
+
' '
+
str
(
aps
.
message
.
input_voltage
)
+
' '
+
str
(
aps
.
message
.
battery_voltage
)
+
' '
+
str
(
aps
.
message
.
regulator_voltage
)
+
' '
+
str
(
aps
.
message
.
lower_body_voltage
)
+
' '
+
str
(
aps
.
message
.
charger_voltage
)
+
' '
+
str
(
aps
.
message
.
upper_body_voltage
)
+
' '
+
str
(
diff_secs
)
+
'.'
+
str
(
diff_nanosecs
).
zfill
(
9
)
+
'
\n
'
)
f
.
write
(
' '
.
join
(
str
(
m
)
for
m
in
[
aps
.
message
.
charge
,
aps
.
message
.
current
,
aps
.
message
.
input_voltage
,
aps
.
message
.
battery_voltage
,
aps
.
message
.
regulator_voltage
,
aps
.
message
.
lower_body_voltage
,
aps
.
message
.
charger_voltage
,
aps
.
message
.
upper_body_voltage
,
diff_secs
])
+
'.'
+
str
(
diff_nanosecs
).
zfill
(
9
)
+
'
\n
'
)
f
.
close
()
...
...
src/dynamic_graph/sot_talos_balance/talos/parameter_server_conf.py
View file @
f29e3871
...
...
@@ -97,5 +97,5 @@ footFrameNames = {"Right": "leg_right_6_joint", "Left": "leg_left_6_joint"}
rightFootSensorXYZ
=
(
0.0
,
0.0
,
-
0.085
)
rightFootSoleXYZ
=
(
0.0
,
0.0
,
-
0.105
)
urdftosot
=
(
0
,
1
,
2
,
3
,
4
,
5
,
6
,
7
,
8
,
9
,
10
,
11
,
12
,
13
,
14
,
15
,
16
,
17
,
18
,
\
19
,
20
,
21
,
22
,
23
,
24
,
25
,
26
,
27
,
28
,
29
,
30
,
31
)
urdftosot
=
(
0
,
1
,
2
,
3
,
4
,
5
,
6
,
7
,
8
,
9
,
10
,
11
,
12
,
13
,
14
,
15
,
16
,
17
,
18
,
19
,
20
,
21
,
22
,
23
,
24
,
25
,
26
,
27
,
28
,
29
,
30
,
31
)
src/dynamic_graph/sot_talos_balance/test/appli_admittance_end_effector.py
View file @
f29e3871
...
...
@@ -130,8 +130,10 @@ create_topic(robot.publisher, robot.controller, 'force', robot=robot, data_type=
create_topic
(
robot
.
publisher
,
robot
.
controller
,
'dq'
,
robot
=
robot
,
data_type
=
'vector'
)
create_topic
(
robot
.
publisher
,
robot
.
controller
,
'w_dq'
,
robot
=
robot
,
data_type
=
'vector'
)
create_topic
(
robot
.
publisher
,
robot
.
controller
,
'w_forceDes'
,
robot
=
robot
,
data_type
=
'vector'
)
create_topic
(
robot
.
publisher
,
robot
.
forceCalibrator
,
'leftWristForceOut'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
forceCalibrator
,
'rightWristForceOut'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
forceCalibrator
,
'leftWristForceOut'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
forceCalibrator
,
'rightWristForceOut'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
# # --- ROS SUBSCRIBER
robot
.
subscriber
=
RosSubscribe
(
"end_effector_subscriber"
)
...
...
src/dynamic_graph/sot_talos_balance/test/appli_ankle_admittance.py
View file @
f29e3871
...
...
@@ -347,8 +347,10 @@ create_topic(robot.publisher, robot.zmp_estimator, 'zmp', robot=robot, data_type
create_topic
(
robot
.
publisher
,
robot
.
wrenchDistributor
,
'wrenchLeft'
,
robot
=
robot
,
data_type
=
'vector'
)
create_topic
(
robot
.
publisher
,
robot
.
wrenchDistributor
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
# --- TRACER
robot
.
tracer
=
TracerRealTime
(
"com_tracer"
)
...
...
src/dynamic_graph/sot_talos_balance/test/appli_dcmAnkleControl.py
View file @
f29e3871
...
...
@@ -473,10 +473,13 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'zmp'
,
robot
=
robot
,
data_type
=
'vector'
)
# estimated ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'zmpRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchLeft'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference left wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
#create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector') # measured left wrench
#create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector') # measured right wrench
...
...
@@ -484,8 +487,10 @@ create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_t
#create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
#create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
rightPitchAnkleController
,
'tau'
,
robot
=
robot
,
data_type
=
'vector'
)
create_topic
(
robot
.
publisher
,
robot
.
rightPitchAnkleController
,
'tauDes'
,
robot
=
robot
,
data_type
=
'vector'
)
...
...
src/dynamic_graph/sot_talos_balance/test/appli_dcmCopControl.py
View file @
f29e3871
...
...
@@ -358,10 +358,13 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'zmp'
,
robot
=
robot
,
data_type
=
'vector'
)
# estimated ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'zmpRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchLeft'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference left wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
#create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector') # measured left wrench
#create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector') # measured right wrench
...
...
@@ -369,8 +372,10 @@ create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_t
#create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
#create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'copRight'
,
robot
=
robot
,
data_type
=
'vector'
)
create_topic
(
robot
.
publisher
,
robot
.
rightAnkleController
,
'pRef'
,
robot
=
robot
,
data_type
=
'vector'
)
...
...
src/dynamic_graph/sot_talos_balance/test/appli_dcmCoupledAndSingleAnkleControl.py
View file @
f29e3871
This diff is collapsed.
Click to expand it.
src/dynamic_graph/sot_talos_balance/test/appli_dcmCoupledAnkleControl.py
View file @
f29e3871
...
...
@@ -487,13 +487,18 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'zmp'
,
robot
=
robot
,
data_type
=
'vector'
)
# estimated ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'zmpRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchLeft'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference left wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
pitchController
,
'tauL'
,
robot
=
robot
,
data_type
=
'vector'
)
create_topic
(
robot
.
publisher
,
robot
.
pitchController
,
'tauDesL'
,
robot
=
robot
,
data_type
=
'vector'
)
...
...
src/dynamic_graph/sot_talos_balance/test/appli_dcmSingleAnkleControl.py
View file @
f29e3871
...
...
@@ -401,10 +401,13 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'zmp'
,
robot
=
robot
,
data_type
=
'vector'
)
# estimated ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'zmpRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchLeft'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference left wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
#create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector') # measured left wrench
#create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector') # measured right wrench
...
...
@@ -412,8 +415,10 @@ create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_t
#create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
#create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
rightPitchAnkleController
,
'tau'
,
robot
=
robot
,
data_type
=
'vector'
)
create_topic
(
robot
.
publisher
,
robot
.
rightPitchAnkleController
,
'tauDes'
,
robot
=
robot
,
data_type
=
'vector'
)
...
...
src/dynamic_graph/sot_talos_balance/test/appli_dcmSingleCopControl.py
View file @
f29e3871
...
...
@@ -362,10 +362,13 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'zmp'
,
robot
=
robot
,
data_type
=
'vector'
)
# estimated ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'zmpRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchLeft'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference left wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
#create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector') # measured left wrench
#create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector') # measured right wrench
...
...
@@ -373,8 +376,10 @@ create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_t
#create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
#create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'copRight'
,
robot
=
robot
,
data_type
=
'vector'
)
create_topic
(
robot
.
publisher
,
robot
.
rightAnkleController
,
'pRef'
,
robot
=
robot
,
data_type
=
'vector'
)
...
...
src/dynamic_graph/sot_talos_balance/test/appli_dcmZmpControl_distribute.py
View file @
f29e3871
...
...
@@ -411,10 +411,13 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'zmp'
,
robot
=
robot
,
data_type
=
'vector'
)
# estimated ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'zmpRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchLeft'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference left wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
#create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector') # measured left wrench
#create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector') # measured right wrench
...
...
@@ -422,8 +425,10 @@ create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_t
#create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
#create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
# --- TRACER
robot
.
tracer
=
TracerRealTime
(
"com_tracer"
)
...
...
src/dynamic_graph/sot_talos_balance/test/appli_dcmZmpControl_estimator.py
View file @
f29e3871
...
...
@@ -389,8 +389,10 @@ create_topic(robot.publisher, robot.dcm_control, 'zmpRef', robot=robot, data_typ
#create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
#create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
# --- TRACER
robot
.
tracer
=
TracerRealTime
(
"com_tracer"
)
...
...
src/dynamic_graph/sot_talos_balance/test/appli_dcmZmpControl_feedback.py
View file @
f29e3871
...
...
@@ -325,8 +325,10 @@ create_topic(robot.publisher, robot.dcm_control, 'zmpRef', robot=robot, data_typ
#create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
#create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
# --- TRACER
robot
.
tracer
=
TracerRealTime
(
"zmp_tracer"
)
...
...
src/dynamic_graph/sot_talos_balance/test/appli_dcmZmpControl_file.py
View file @
f29e3871
...
...
@@ -31,7 +31,7 @@ g = 9.81
omega
=
sqrt
(
g
/
h
)
# --- Parameter server
fill_parameter_server
(
robot
.
param_server
,
param_server_conf
,
dt
)
fill_parameter_server
(
robot
.
param_server
,
param_server_conf
,
dt
)
# --- Initial feet and waist
robot
.
dynamic
.
createOpPoint
(
'LF'
,
robot
.
OperationalPointsMap
[
'left-ankle'
])
...
...
@@ -435,8 +435,10 @@ create_topic(robot.publisher, robot.waistTrajGen, 'x', robot=robot, data_type='v
create_topic
(
robot
.
publisher
,
robot
.
lfTrajGen
,
'x'
,
robot
=
robot
,
data_type
=
'vector'
)
# desired left foot pose
create_topic
(
robot
.
publisher
,
robot
.
rfTrajGen
,
'x'
,
robot
=
robot
,
data_type
=
'vector'
)
# desired right foot pose
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
dynamic
,
'LF'
,
robot
=
robot
,
data_type
=
'matrixHomo'
)
# left foot
create_topic
(
robot
.
publisher
,
robot
.
dynamic
,
'RF'
,
robot
=
robot
,
data_type
=
'matrixHomo'
)
# right foot
...
...
src/dynamic_graph/sot_talos_balance/test/appli_dcmZmpCopControl.py
View file @
f29e3871
...
...
@@ -385,10 +385,13 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'zmp'
,
robot
=
robot
,
data_type
=
'vector'
)
# estimated ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'zmpRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchLeft'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference left wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
#create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector') # measured left wrench
#create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector') # measured right wrench
...
...
@@ -396,8 +399,10 @@ create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_t
#create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
#create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'copRight'
,
robot
=
robot
,
data_type
=
'vector'
)
create_topic
(
robot
.
publisher
,
robot
.
rightAnkleController
,
'pRef'
,
robot
=
robot
,
data_type
=
'vector'
)
...
...
src/dynamic_graph/sot_talos_balance/test/appli_dcmZmpFootControl.py
View file @
f29e3871
...
...
@@ -400,12 +400,17 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'zmp'
,
robot
=
robot
,
data_type
=
'vector'
)
# estimated ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'zmpRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchLeft'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference left wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'surfaceWrenchLeft'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference surface left wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'surfaceWrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'surfaceWrenchLeft'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference surface left wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'surfaceWrenchRight'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference right wrench
create_topic
(
robot
.
publisher
,
robot
.
distribute
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# optimized reference wrench
#create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector') # measured left wrench
#create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector') # measured right wrench
...
...
@@ -413,8 +418,10 @@ create_topic(robot.publisher, robot.distribute, 'wrenchRef', robot=robot, data_t
#create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
#create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'copRight'
,
robot
=
robot
,
data_type
=
'vector'
)
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'copLeft'
,
robot
=
robot
,
data_type
=
'vector'
)
...
...
src/dynamic_graph/sot_talos_balance/test/appli_dcmZmpWaistControl.py
View file @
f29e3871
...
...
@@ -347,7 +347,8 @@ create_topic(robot.publisher, robot.dynamic, 'zmp', robot=robot, data_type='vect
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'zmp'
,
robot
=
robot
,
data_type
=
'vector'
)
# estimated ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'zmpRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# reference ZMP
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
create_topic
(
robot
.
publisher
,
robot
.
dcm_control
,
'wrenchRef'
,
robot
=
robot
,
data_type
=
'vector'
)
# unoptimized reference wrench
#create_topic(robot.publisher, robot.device, 'forceLLEG', robot = robot, data_type='vector') # measured left wrench
#create_topic(robot.publisher, robot.device, 'forceRLEG', robot = robot, data_type='vector') # measured right wrench
...
...
@@ -355,8 +356,10 @@ create_topic(robot.publisher, robot.dcm_control, 'wrenchRef', robot=robot, data_
#create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
#create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'copRight'
,
robot
=
robot
,
data_type
=
'vector'
)
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'copLeft'
,
robot
=
robot
,
data_type
=
'vector'
)
...
...
src/dynamic_graph/sot_talos_balance/test/appli_dcm_estimator.py
View file @
f29e3871
...
...
@@ -140,7 +140,8 @@ create_topic(robot.publisher, robot.cdc_estimator, 'dc', robot=robot, data_type=
create_topic
(
robot
.
publisher
,
robot
.
estimator
,
'dcm'
,
robot
=
robot
,
data_type
=
'vector'
)
# estimated DCM
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'zmp'
,
robot
=
robot
,
data_type
=
'vector'
)
# estimated ZMP
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'emergencyStop'
,
robot
=
robot
,
data_type
=
'boolean'
)
# ZMP emergency stop
create_topic
(
robot
.
publisher
,
robot
.
zmp_estimator
,
'emergencyStop'
,
robot
=
robot
,
data_type
=
'boolean'
)
# ZMP emergency stop
create_topic
(
robot
.
publisher
,
robot
.
dynamic
,
'com'
,
robot
=
robot
,
data_type
=
'vector'
)
# SOT CoM
create_topic
(
robot
.
publisher
,
robot
.
dynamic
,
'zmp'
,
robot
=
robot
,
data_type
=
'vector'
)
# SOT ZMP
create_topic
(
robot
.
publisher
,
robot
.
device
,
'forceLLEG'
,
robot
=
robot
,
data_type
=
'vector'
)
# force on left foot
...
...
@@ -152,5 +153,7 @@ create_topic(robot.publisher, robot.device, 'forceRLEG', robot=robot, data_type=
#create_topic(robot.publisher, robot.device_filters.ft_LF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered left wrench
#create_topic(robot.publisher, robot.device_filters.ft_RF_filter, 'x_filtered', robot = robot, data_type='vector') # filtered right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'left_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated left wrench
create_topic
(
robot
.
publisher
,
robot
.
ftc
,
'right_foot_force_out'
,
robot
=
robot
,
data_type
=
'vector'
)
# calibrated right wrench
Prev
1
2
3
4
5
Next
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment