Overview

This component reads sensors and write commands to actuators.

implementation_id	RobotHardware
category	example

Data Ports

port name	data type	unit	description
qRef	RTC::TimedDoubleSeq	[rad]	joint angle commands

Output data ports for gyros, accelerometers and force/torque sensors are created automatically based on information read from a VRML model.

port name	data type	unit	description
q	RTC::TimedDoubleSeq	[rad]	measured joint angles
servoState	RTC::TimedLongSeq	[rad]	status of joint servo
emergencySignal	RTC::TimedLong	[rad]	Emergency signal
name of gyro defined in a VRML model	RTC::TimedAngularVelocity3D	[rad/s]	angular velocities
name of accelerometer defined in a VRML model	RTC::TimedAcceleration3D	[rad/(s^2)]	acceleration
name of force/torque sensor defined in a VRML model	RTC::TimedDoubleSeq	[N],[Nm]	force/torque

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

N/A

key	type	unit	description
isDemoMode	int		1:demo mode, 0:otherwise. When the robot is in demo mode, joint servo error limits and force limits are not checked.
servoErrorLimit	std::vector<double>	[rad]	joint servo error limits. If any servo error exceeds its limit, all joint servos are turned off. When 0 is set, servo error is not checked
fzLimitRatio	double<double>		force limit. If force in Z direction exceeds this limit, all joint servos are turned off. The limit is given by a ratio to weight of the robot.

key	type	description
model	std::string	URL of a VRML model
sensor_id.right_leg_force_sensor	unsigned int	ID of a force/torque sensor whose Z force is checked to detect emergency
sensor_id.leg_leg_force_sensor	unsigned int	ID of a force/torque sensor whose Z force is checked to detect emergency