Overview

This component plays motion patterns.

Interpolation

This component interpolates motion patterns between key frames in hoff-arbib interpolation or linear interpolation (OpenHRP::SequencePlayerService::interpolationMode).

Partial interpolation

This component can interpolate motion patterns at specific joint groups.

Simple inverse kinematics

Simple inverse kinematics is implemented (OpenHRP::SequencePlayerService::setTargetPose).

LoadPattern

This component can output reference motion sequence from input motion sequence files using (OpenHRP::SequencePlayerService::loadPattern).
Input files should be [basename].[extensions]. Not all files are required, for example, users can use loadPattern just for .pos.
All files includes timestamp in seconds and data sequence. If the differences between timestamps dt, data sequence is interpolated.
Basically, all data corresponds to Output Ports. To learn more about this, please see Output Ports in this page.

Extention	Description	Data length	Data format	unit of data sequence
.pos	Reference joint angles	Length of joint angles	TimeStamp JointAngle1 ... JointAngleN	[rad]
.zmp	Reference ZMP in the base frame	3	TimeStamp ZMPx ZMPy ZMPz	[m]
.gsens	Reference acceleration in the sensor frame	3	TimeStamp AccelX AccelY AccelZ	[m/^2]
.hip	Reference base link RPY in the world frame	3	TimeStamp Roll Pitch Yaw	[rad]
.waist	Reference base link 3D pos and RPY in the world frame	6	TimeStamp X Y Z Roll Pitch Yaw	[m] and [rad]
.torque	Reference joint torques	Length of joint torques	TimeStamp JointTorque1 ... JointTorqueN	[Nm]
.wrenches	Reference force/torque in the sensor frame	6 x [force/torque sensor number]	TimeStamp Fx0 Fy0 Fz0 Tx0 Ty0 Tz0 ...	[N] and [Nm]
.optionalData	Optional data		TimeStamp Data1 ... DataN

implementation_id	SequencePlayer
category	example

Data Ports

Input Ports

port name	data type	unit	description
qInit	RTC::TimedDoubleSeq	[rad]	initial joint angles
basePosInit	RTC::TimedPoint3D	[m]	initial position of the base link
baseRpyInit	RTC::TimedOrientation3D	[rad]	initial Roll-Pitch-Yaw angles of the base link
zmpRefInit	RTC::TimedPoint3D	[m]	initial ZMP reference

Output Ports

port name	data type	unit	description
qRef	RTC::TimedDoubleSeq	[rad]	reference joint angles
tqRef	RTC::TimedDoubleSeq	[Nm]	reference joint torques
zmpRef	RTC::TimedPoint3D	[m]	reference ZMP in the base link frame
accRef	RTC::TimedAcceleration3D	[m]	reference acceleration of the sensor in the sensor frame
basePos	RTC::TimedPoint3D	[m]	reference position of the base link in the world frame
baseRpy	RTC::TimedOrientation3D	[rad]	reference Roll-Pitch-Yaw angles of the base link in the world frame
name of force/torque sensor defined in a VRML model + "Ref", such as "rhsensorRef"	RTC::TimedDoubleSeq	[N],[Nm]	reference force/torque in the sensor frame
optionalData	RTC::TimedDoubleSeq		optional data sequence

Service Ports

Service Providers

port name	interface name	service type	IDL	description
SequencePlayerService	service0	SequencePlayerService	OpenHRP::SequencePlayerService

Service Consumers

N/A

Configuration Variables

name	type	unit	default value	description
debugLevel	int		0	debug level

Configuration File

key	type	unit	description
dt	double	[s]	sampling time
model	std::string		URL of a VRML model