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... | |
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
def simulation.createGraphDict | ( | client | ) |
Create dictionary mapping transition names to id's in hpp_idl graph.
simulation.s = Simulation () |
Create a simulation node that computes the pose of objects from the robot configuration in the Stack of Tasks.