simulation Namespace Reference

Classes

class  PublishObjectPose
 Publish the pose of an object in tf. More...
 
class  Simulation
 

Functions

def convertTalosConfigReducedToFull (qReduced, qFull)
 Conversion of configuration for Talos robot. More...
 
def createGraphDict (client)
 Create dictionary mapping transition names to id's in hpp_idl graph. More...
 

Variables

list TalosSlicesReducedToFull
 
 s = Simulation ()
 Create a simulation node that computes the pose of objects from the robot configuration in the Stack of Tasks. More...
 

Function Documentation

◆ convertTalosConfigReducedToFull()

def simulation.convertTalosConfigReducedToFull (   qReduced,
  qFull 
)

Conversion of configuration for Talos robot.

The robot model in the SoT and in HPP are different. The SoT uses a reduced model with less joints. This function updates the configuration of the full model from a configuration coming from the SoT

◆ createGraphDict()

def simulation.createGraphDict (   client)

Create dictionary mapping transition names to id's in hpp_idl graph.

Variable Documentation

◆ s

simulation.s = Simulation ()

Create a simulation node that computes the pose of objects from the robot configuration in the Stack of Tasks.

◆ TalosSlicesReducedToFull

list simulation.TalosSlicesReducedToFull
Initial value:
1 = [slice(7, 28, 1), slice(33, 34, 1),
2  slice(35, 42, 1), slice(47, 48, 1),
3  slice(49, 51, 1)]