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Introduction:
HiddenRamp is a Social Networking Talent Platform,Helping many people, represent them in the way they want to represent themself..i.e connects the people with same talents
and let all the users informed of all the upcoming events and seminars.
Hiddenramp arrange events & seminars in such a way that are useful for professionals and optimises their experiences.
Especially,For the students these events and hackathons are really very useful and the events activities coincides with real life examples..
HiddenRamp Logo
HiddenRamp Logo
HiddenRamp provides access to them via Desktop or mobile browsers and it also has well developed applications available on android play store and ios users can also download from apple store. See App review..
App review
App review
Downlaod from play store here
Downlaod from apple(ios) store-For Iphone
Downlaod from apple(ios) store-For Ipad
Desktop site Review
Download via qr code
or,
Visit website by scanning
Online Events:
There are currently many event seminars and hosted by HiddenRamp..and a web development contest is currently active see the details below.
Details
more details can be found
Here
There are also so many webinars and events like this ..such as developer seminars,hackathons..
I am listing here some of such events:Flutter Live,Devfest,VS live conference,chrome dev summit,etc and many more
Offline Events:
Events are also organised offline at school and collages campuses in order to maximise knowledge auras of students..
There are so many events which are organised offline at collage campuses.. like MLH,Devpost Events,Freecodecamp,Hackathons..and many more.
MLH
HiddenRamp
Devpost
Hackathon
Freecodecamp
Past and upcoming Events:
In this sections the upcoming and the past events are being mentioned..
Upcoming Events:
Hacktoberfest 2019
AWS cloud Webinar
Google Devfest
devpost-Alexa skill development
Devpost AR & VR creation contest
Freecodecamp programming contest.
Hackathon.com programs
MLH summer hackathon
AWSome DAy 2018
GSoC(Google Summer of code 2019)
Techfest 2019
Catapult Azure Bootcamp 2019
Past Events:
HiddenRamp Hackacon
HiddenRamp Techon
Hacktoberfest 2018
MLH winter contest 2018
Devpost AgoraIO WebRTC development contest
AWSome day 2019
GSoC(Google Summer of code) 2018
Techfest 2018
Catapult Azure Bootcamp 2018
Testimonials(What people says):
Here are some storys on what people thinks about hackathons and seminars..
Guests & Speakers:
Here are some speakers who are present at the events and seminars.
Karthik Padmanabhan(Developer Relations Program lead, Google India -spaeker at Google developer DEvfest,Ahmedabad)
Karthik Padmanabhan is the Developer Relations Program lead at Google and is responsible for India,
Middle East and North Africa regions. Karthik has been with the tech industry for almost three decades
in the areas of product management, business development, tech evangelism, etc. He leads a team that focuses
on enabling developer communities to adopt Google & open source technologies like TensorFlow, PWA, Android, & Google Cloud
for the Next Billion Users (NBU). Karthik is a seeker, plays Golf, works at Google's Bangalore office and lives on a farm that
functions on sustainable living practices.
Paresh Mayani(Practice Head, Simform Solutions Pvt. Ltd. Google Developers Group Ahmedabad)-Speaker at Google Developer Devfest,Ahmedabad
Paresh Mayani is a full time mobile application developer having 8 years of experience in app development.
He has been working on android application development since Cupcake(Android 1.5). Over the span of period, he has worked on many
challenging mobile projects in different domains like Automobile, e-commerce and health care. He is an avid Open source enthusiast, who has been organizing events as well as blogging,
speaking and mentoring on Android related topics since 2010. He can be frequently found giving talks on
various topics ranging from android development best practices, android UI/UX, android testing and
Android BLE at Domestic & International conferences such as Android Developer Days Turkey (Droidcon Ankara),
DevFest Kathmandu, GDG DevCamp and NitroDroid.
He has been actively supporting his fellow android developers through various online and offline means.
His has published more than 150 articles on his blog TechnoTalkative on which he writes about various
technical solutions for Android Development. He holds 95000+ reputation on StackOverflow ,
where he is also in 10 highest reputation holders for Android tag.
He is also been nominated for the Google Developers Expert for Android program.
Recently he was invited to attend the Google IO 2016 event at Mountain View, California.
Currently he is working as a Practice Head at Simform Solutions Pvt. Ltd.
He is also been a mentor for start-ups having android apps.
He is a founder/organizer of Google Developers Group Ahmedabad , one of the senior most organiser in India.
Jay Dougalss(Azure solution architect at catapult systems-Speaker at catapult azure bootcamp 2018)
Jay dougals is an experinced cloud architect for the microsoft azures cloud system and
Catapult is one of Microsoft’s most respected cloud partners, as their 2016 Partner of the Year (US)
and finalist for 2017 Partner of the Year for Cloud Productivity. The company has helped hundreds of
organizations move into the cloud and improve their cloud operations. Over the last three years, Catapult’s
Azure engagements have grown over 500 percent. In just the last year, Catapult grew its number of customers
consuming Azure over 250 percent.
Larry Swonke(Director of azure sales at catapult Systems-speakers at catapult azure bootcamp 2018)
Larry Swonke is director of azure sales at catapult system and founder and an experinced cloud archteict for the microsoft azures cloud system and
every year they organise 8 weeks bootcamp for azure cloud computing solution and architecture.. The catapult systems lead an online bootcamp event for all the students to make them falmiliar with cloud architecture and computing..
catapult won the specialist award from microsoft in 2017 for its cloud services and performances.
Charmi Chokshi(Teaching Assistant and Student, Ahmedabad University-Speaker for codelab Machine learning at Google Developer Devfest 2018)
Working with data and predicting future based on it is Charmi's passion and it has always made her feel
like a Magician! She is an AI and Data enthusiast who is always willing to learn from new challenges and
love to share the experiences with others. She has facilitated the first pilot of Machine Learning Crash Course
in India back in September 2017 and was a Research Trainee at Indian Space Research Organisation in summer 2018.
Currently, she is a Teaching Assistant and a final year student of ICT Engineering at Ahmedabad University.
Rohini Gaonkar(Solution architect at AWS and speaker at AWS DEV DAY INDIA-AWS INNOVATE)
Rohini Gaonkar is a Solutions Architect having years of experience in Information Technology
and has worked primarily on Cloud Computing technology - Amazon Web Services (AWS).
Since last 3+ years she is working as Solution Architect for Amazon.
Contact Us:
email:
Email here
Mob:
Call us here
Whatsapp:
Whatsapp here


The projects for this rotation were centered around 3D Printing and using the Makerbot Replicator 5th Gen printer. The MakerBot Replicator
5th Gen is a 3D Printer capable of producing small to medium sized objects. The printer prints with material that is available in variety
of different colors. The maximum build size (in inches) is 9.9 L x 7.8 W x 5.9 H.
Our first task was to our face and attach it to a pedastal base. We then used MeshMixer to combine the digital 3D model of our head with
a pedestal.
Next, we had to design and print an object that couldn't be made subtractively. So, I designed a random sphere set on top of
columns in Fusion 360.
Finally, we had to create an original, useful object using addative manufacturing. I created a phone stand with an opening for the
charging port.


THORMANG3 ROS Packages
MPC Packages
thormang3_manager
thormang3_manager
is a package to apply ROBOTIS Framework to THORMANG3. Refer to the below link to create a new robot manager.
Download & Build
Reference
: MPC Installation
Run
Execute the program with a .launch file in order to load ROS parameters. The command should be executed from the root account to configure the attribute of Thread.
$ sudo bash
[sudo] password for robotis:
# roslaunch thormang3_manager thormang3_manager.launch
ROS API
-
Launch Parameters
- gazebo (bool, default: false) : Configure whether to the program run in gazebo mode.
- gazebo_robot_name (string, default: “”) : Configure the robot name for joint_state topic name when running in gazebo mode.
ex) If thormang3 is the gazebo_robot_name, /thormang3/joint_states will be subscribed. - offset_file_path (string, default: “”) : This path indicates the location of the file that contains offset data of each joint and initial posture data for offset adjustment.
- robot_file_path (string, default: “”) : This path indicates the location of .robot file that contains robot data.
- init_file_path (string, default: “”) : This path indicates the location of the file that contains initialization information of each joint.
- ft_data_path (string, default: “”) : This path indicates the location of the file that contains calibration matrix and unloaded voltage information of the FT sensor.
- ft_calibration_data_path (string, default: “”) : This path indicates the location of the file that contains the reference value for FT sensor calibration.
thormang3_kinematics_dynamics
thormang3_kinematics_dynamics
is a kinematics and dynamics library that provides joint & link information and basic robotics function. To use this library, it is necessary to set the CMakeList.txt
and package.xml
of each module
In CMakeList.txt
,
find_package( thormang3_kinematics_dynamics )
target_link_libraries( thormang3_kinematics_dynamics )
In package.xml
,
<build_depend>thormang3_kinematics_dynamics</build_depend>
Functions
- LinkData.cpp
- name : Joint name
- parent : Parent joint ID
- sibling : Sibling joint ID
- child : Child joint ID
- mass : Mass
- relative_position : Joint relative position (relative to parent)
- joint_axis : Joint axis vector (relative to parent)
- center_of_mass : Center of mass (Link Local)
- inertia : Moment of Inertia (Link Local)
- joint_limit_max : Joint upper limit
- joint_limit_min : Joint lower limit
- joint_angle : Joint angle
- joint_velocity : Joint velocity
- joint_acceleration : Joint acceleration
- position: Link position
- orientation : Link orientation
- transformation : Link transformation matrix
- ThorMang3KinematicsDynamics.cpp
-
THORMANG3 joint & link information
ThorMang3KinematicsDynamics(TREE_SELECT tree)
- Find kinematics tree
- arguments : start joint id
- return value : vector ( n x 1 )
std::vector<int> findRoute( int to )
- Find kinematics tree
- arguments : start joint id and end joint id
- return value : vector ( n x 1 )
std::vector<int> findRoute( int from , int to )
- Calculate total mass
- arguments : start joint id
- return value : total mass
double TotalMass( int joint_ID )
- Calculate center of mass
- arguments : start joint id
- return value : 3 x 1 matrix
Eigen::MatrixXd CalcMC( int joint_ID ) Eigen::MatrixXd CalcCOM( Eigen::MatrixXd MC )
- Calculate forward kinematics
- arguments : start joint id
void ForwardKinematics( int joint_ID )
- Calculate forward kinematics
- arguments : vector ( n x 1 )
- return value : 6 x n matrix
Eigen::MatrixXd CalcJacobian( std::vector<int> idx )
- Calculate inverse kinematics
- arguments : end joint id, target position, target orientation, max iteration, calculation error
- return value : true or false
bool InverseKinematics ( int to, Eigen::MatrixXd tar_position, Eigen::MatrixXd tar_orientation, int max_iter, double ik_err )
- Calculate inverse kinematics
- arguments : start joint id, end joint id, target position, target orientation, max iteration, calculation error
- return value : true or false
bool InverseKinematics ( int from, int to, Eigen::MatrixXd tar_position, Eigen::MatrixXd tar_orientation, int max_iter, double ik_err )
- Calculate inverse kinematics for leg
- arguments : output, target position (x y z), target orientation (roll pitch yaw)
- return value : true or false
bool InverseKinematicsforLeg ( double *out, double x, double y, double z, double roll, double pitch, double yaw )
- Calculate inverse kinematics for right leg
- arguments : output, target position (x y z), target orientation (roll pitch yaw)
- return value : true or false
bool InverseKinematicsforRightLeg ( double *out, double x, double y, double z, double roll, double pitch, double yaw);
- Calculate inverse kinematics for left leg
- arguments : output, target position (x y z), target orientation (roll pitch yaw)
- return value : true or false
bool InverseKinematicsforLeftLeg ( double *out, double x, double y, double z, double roll, double pitch, double yaw);
thormang3_action_module
thormang3_action_module
is one of the Motion Module. This module can load and play a motion file.
The motion file is edited with thormang3_action_editor
Download & Build
Reference
: MPC Installation
ROS API
Subscribed Topics
-
/robotis/action/page_num
(std_msgs/Int32)
The page number will be played.
If user send a page number between 1 ~ 255, the page will be played.
If user send -1, the action will be stopped.
If user send -2, the action will be broken(stop immediately). -
/robotis/action/start_action
(thormang3_action_module_msgs/StartAction)
The page number and joint names will be played.
Published Topics
/robotis/status
(robotis_controller_msgs/StatusMsg)
The message indicates status of the action_module.
Services
/robotis/action/is_running
(thormang3_action_module_msgs/IsRunning)
The service that checks whether THORMANG3’s action is being played or not.
thormang3_base_module
thormang3_base_module
is a module for initial posture. This module is included in thormang3_manager as a library.
Download & Build
Reference
: MPC Installation
The Motion Module is used in the manager as a form of library.
Reference
: Creating new robot manager
ROS API
Subscribed Topics
/robotis/base/ini_pose
(std_msgs/String)
A command to take the initial posture(This command is effective even when the base module is inactive).
Published Topics
-
/robotis/enable_ctrl_module
(std_msgs/String)
A base_module activation topic to take the initial posture. -
/robotis/status
(robotis_controller_msgs/StatusMsg)
A message that contains the status of base_module.
thormang3_manipulation_module
THORMANG3 manipulation module for the upper body.
Download & Build
Reference
: MPC Installation
ROS API
Subscribed Topics
-
/robotis/manipulation/ini_pose_msg
(std_msgs/String)
A message to take the initial posture. -
/robotis/manipulation/joint_pose_msg
(thormang3_manipulation_module_msgs/JointPose)
A message to move to the target point in the Joint Space. -
/robotis/manipulation/kinematics_pose_msg
(thormang3_manipulation_module_msgs/KinematicsPose)
A message to move to the target pose in the Task Space.
Published Topics
/robotis/status
(robotis_controller_msgs/StatusMsg)
A status message of THORMANG3
Services
-
/robotis/manipulation/get_joint_pose
(thormang3_manipulation_module_msgs/GetJointPose)
A service that reads the pose of specific joint. -
/robotis/manipulation/get_kinematics_pose
(thormang3_manipulation_module_msgs/GetKinematicsPose)
A service that reads the pose of end effector from a specific kinematics group.
thormang3_walking_module
As seen from the above figure, thormang3_walking_module is one of the MotionModules from ROS Framework. THROMANG3 can be controlled with Topics and Services. Users can designate almost all Step Parameters.(thormang3_walking_module_msgs/StepData)
-
Pattern Generation
thormang3_walking_module includes online walking pattern generator. The pattern is generated from Foot Step Data input.
-
Balance Algorithm
The balance algorithm is included as shown below.(thormang3_walking_module_msgs/BalanceParam)
Download & Build
Reference
: MPC Installation
ROS API
Subscribed Topics
/robotis/sensor/imu/imu
(sensor_msgs/Imu)
Current data of the IMU Sensor
Published Topics
/robotis/status
(robotis_controller_msgs/StatusMsg)
Status message of THORMANG3
Services
-
/robotis/walking/get_reference_step_data
(thormang3_walking_module_msgs/GetReferenceStrpData)
A service that collects current location of THORMANG3 in the Global from the Walking Module. -
/robotis/walking/add_step_data
(thormang3_walking_module_msgs/AddStepDataArray)
A service that adds StepData created by the user. -
/robotis/walking/walking_start
(thormang3_walking_module_msgs/WalkingStart)
A service that commands to start walking. -
/robotis/walking/is_running
(thormang3_walking_module_msgs/IsRunning)
A service that checks whether THORMANG3 is walking or not. -
/robotis/walking/set_balance_param
(thormang3_walking_module_msgs/SetBalanceParam)
A service that can set Balance Algorithm parameters. -
/robotis/walking/remove_existing_step_data
(thormang3_walking_module_msgs/RemoveExistingStepData)
A service that deletes existing StepData.
thormang3_head_control_module
This module is to control the head. This module is included in the Thormang3 Manager as a library.
Download & Build
Reference
: MPC Installation
Reference
: Creating new robot manager
ROS API
Subscribed Topics
-
/robotis/head_control/move_lidar
(std_msgs/String)
The command moves the head in order to obtain Lidar data. -
/robotis/head_control/move_lidar_with_range
(std_msgs/Float64)
This command scans up and down a given range at the current head position to generate 3D lidar data. -
/robotis/head_control/set_joint_states
(sensor_msgs/JointState)
The message controls joints that are connected to the head. -
/robotis/head_control/set_joint_states_time
(thormang3_head_control_module_msgs/HeadJointPose)
The message moves head joints for given time.
Published Topics
-
/robotis/sensor/move_lidar
(std_msgs/String)
This message reports the head movement to the Node which assembles LiDAR data. -
/robotis/status
(robotis_controller_msgs/StatusMsg)
The message indicates status of the head_control_module.
ati_ft_sensor
This is a library to use ForceTorque Sensor(FT Sensor) of ATI Inc in the ROS.
The library can load saved Calibration Matrix and Unloaded Voltage from the YAML File.
The library does not include functions to communicate with hardwares. It can convert voltage output from the FT sensor to N or Nm.
Functions
- ATIForceTorqueSensorTWE Class
bool Initialize(const std::string& ft_data_path,
const std::string& ft_data_key,
const std::string& ft_frame_id,
const std::string& ft_raw_publish_name,
const std::string& ft_scaled_publish_name)
- arguments :
- ft_data_path : Location of the YAML file to save Calibration Matrix and Unloaded Voltage
- ft_data_key
- The key to read data from YAML
- Key format used to read YAML looks like : ft_data_key + “_calibration_matrix” 와 _ft_data_key + “_unload”
- For example, if “ft_right_foot_calibration_matrix” and “ft_right_foot_unload” are saved in the YAML, ft_data_key should be “ft_right_foot”.
- ft_frame_id : The frame_id to publish sensor outputs
- ft_raw_publish_name : The topic name for raw outputs
- ft_scaled_publish_name : The topic name for scaled outputs
- description : The function that configures variables in the Class according to Arguments
- return value : Indicates Initialization success/failure result
void SetScaleFactor(double ft_scale_factor)
- arguments :
- ft_scale_factor : The gain value for calculating scaled output
- Refer to the “SetScaleParam” function.
- description : Function sets the scale gain of the FT sensor
- return value : void
void SetNullForceTorque(Eigen::MatrixXd ft_null)
- arguments :
- ft_null : Null value for calculating scaled output
- Refer to the “SetScaleParam” function
- description : Function sets null value of the FT sensor
- return value : void
void SetScaleParam(double ft_scale_factor, Eigen::MatrixXd ft_null)
- arguments :
- ft_scale_factor : The gain value for calculating scaled output
- ft_null : Null value when calculating scaled output
- description :
- Function sets Parameter for calculating scaled output
- The scaled output can be calculated as below.
- ft_scaled = ft_scale_factor * (ft_raw - ft_null)
- return value : void
void SetCurrentVoltageOutput(double voltage0, double voltage1, double voltage2, double voltage3, double voltage4, double voltage5)
- arguments :
- voltage0 : The output voltage of the FT sensor #0
- voltage1 : The output voltage of the FT sensor #1
- voltage2 : The output voltage of the FT sensor #2
- voltage3 : The output voltage of the FT sensor #3
- voltage4 : The output voltage of the FT sensor #4
- voltage5 : The output voltage of the FT sensor #5
- description : Function sets internal variables for the output voltage of the FT sensors and converts them to force torque.
- return value : void
void SetCurrentVoltageOutput(Eigen::MatrixXd _voltage)
- arguments :
- voltage : The 6x1 matrix form of output voltage of the FT sensor
- description : Function sets internal variables for the output voltage of the FT sensors and converts them to force torque.
- return value : void
Eigen::MatrixXd GetCurrentForceTorqueRaw()
- arguments : void
- description : Return the most recent Raw Force and Torque of the voltage calculated from the “SetCurrentVoltageOutput” function.
- return value : Raw Force & Raw Torque
- Eigen::MatrixXd ft = GetCurrentForceTorqueRaw()
- force_x = ft.coeff(0,0);
- force_y = ft.coeff(1,0);
- force_z = ft.coeff(2,0);
- torque_x = ft.coeff(3,0);
- torque_y = ft.coeff(4,0);
- torque_z = ft.coeff(5,0);
Eigen::MatrixXd GetCurrentForceTorqueScaled()
- arguments : void
- description : Return the most recent Scaled Force and Torque of the voltage calculated from the “SetCurrentVoltageOutput” function.
- return value : Scaled Force & Scaled Torque
- Eigen::MatrixXd ft = GetCurrentForceTorqueScaled()
- force_x = ft.coeff(0,0);
- force_y = ft.coeff(1,0);
- force_z = ft.coeff(2,0);
- torque_x = ft.coeff(3,0);
- torque_y = ft.coeff(4,0);
- torque_z = ft.coeff(5,0);
void GetCurrentForceTorqueRaw(double* _force_x_N, double* _force_y_N, double* _force_z_N, double* _torque_x_Nm, double* _torque_y_Nm, double* _torque_z_Nm)
- arguments : The return pointer of Raw Force and Raw Torque
- description : Return the most recent Raw Force and Torque of the voltage calculated from the “SetCurrentVoltageOutput” function.
- return value : void
void GetCurrentForceTorqueScaled(double* _force_x_N, double* _force_y_N, double* _force_z_N, double* _torque_x_Nm, double* _torque_y_Nm, double* _torque_z_Nm)
- description : Return the most recent Scaled Force and Torque of the voltage calculated from the “SetCurrentVoltageOutput” function.
- return value : void
void SetCurrentVoltageOutputPublishForceTorque(double _voltage0, double _voltage1, double _voltage2, double _voltage3, double _voltage4, double _voltage5)
- arguments :
- voltage0 : The output voltage of the FT sensor #0
- voltage1 : The output voltage of the FT sensor #1
- voltage2 : The output voltage of the FT sensor #2
- voltage3 : The output voltage of the FT sensor #3
- voltage4 : The output voltage of the FT sensor #4
- voltage5 : The output voltage of the FT sensor #5
- description : Function sets internal variables for the output voltage of the FT sensors and converts them to force torque, then publish the converted force torque.
- return value : void
void SetCurrentVoltageOutputPublish(Eigen::MatrixXd _voltage)
- arguments :
- voltage : The 6x1 matrix form of output voltage of the FT sensor
- description : Function sets internal variables for the output voltage of the FT sensors and converts them to force torque, then publish the converted force torque.
- return value : void
thormang3_feet_ft_module
The sensor module of THORMANG3 that uses ati_ft_sensor library.
Acquired sensor values when the robot is hanging on the lift and standing on the ground can be used for the Calibration feature.
Download & Build
Reference
: MPC Installation
ROS API
- Subscribed Topics
/robotis/feet_ft/ft_calib_command
(std_msgs/String)
FT Calibration Command
- Published Topics
/robotis/status
(robotis_controller_msgs/StatusMsg)
The status message of THORMANG3
-
/robotis/feet_ft/both_ft_value
(thormang3_feet_ft_module_msgs/BothWrench)
Both Wrench -
/robotis/sensor/ft_right_foot/raw
(geometry_msgs/WrenchStamped)
raw output from the force torque sensor on the right foot -
/robotis/sensor/ft_right_foot/scaled
(geometry_msgs/WrenchStamped)
scaled output from the force torque sensor on the right foot -
/robotis/sensor/ft_right_foot/raw
(geometry_msgs/WrenchStamped)
raw output from the force torque sensor on the left foot -
/robotis/sensor/ft_right_foot/scaled
(geometry_msgs/WrenchStamped)
scaled output from the force torque sensor on the left foot
thormang3_balance_control
Library for using Balance Algorithm of THORMANG3 in ROS. There is two kinds of algorithm.
Download & Build
Reference
: MPC Installation
Functions and Variables
BalanceLowPassFilter Class
void initialize(double control_cycle_sec_, double cut_off_frequency)
- arguments :
- control_cycle_sec : control cycle in sec of motion module
- cut_off_frequency : cut off frequency for low pass filter
- description : the function that configures variables in the class according to arguments
- return value : void
void setCutOffFrequency(double cut_off_frequency)
- arguments :
- cut off frequency : desired cut off frequency for filtering. If cut_off_frequency is less than 0, filtering is not performed.
- description : the function for setting cut off frequency
- return value : void
double getCutOffFrequency(void)
- arguments : void
- description : the function for getting set cut off frequency
- return value : current set cut off frequency
double getFilteredOutput(double present_raw_value)
- arguments :
- present_raw_value : raw value
- description : the function for filtering and getting its result
- return value : filtered value
Damping Controller Class
double getFeedBack(double present_sensor_output)
- arguments :
- present_sensor_output : present sensor output
- description : the function for calculating damping control and getting its result
- return value : result calculated by damping controller
double desired_
- description : desired value for damping controller
double gain_
- description : gain for damping controller
double time_constant_sec_
- description : time constant for damping controller
double output_
- description : result of damping controller
double control_cycle_sec_
- description : control cycle in sec of motion module
BalancePDController Class
double getFeedBack(double present_sensor_output)
- arguments :
- present_sensor_output : present sensor output
- description : the function for calculating PD control and getting its result
- return value : result calculated by PD controller
double desired_
- description : desired value for PD controller
double p_gain_
- description : P gain for PD controller
double d_gain_
- description : D gain for PD controller
BalanceControlUsingDampingConroller Class
void initialize(const int control_cycle_msec)
- arguments :
- control_cycle_msec : control cycel of motion module in milliseconds
- description : the function that configures variables in the class according to arguments
- return value : void
void setGyroBalanceEnable(bool enable)
- arguments :
- enable : true or false
- description : The function that turns on or off the balance algorithm with gyro
- return value : void
void setOrientationBalanceEnable(bool enable)
- arguments :
- enable : true or false
- description : The function that turns on or off the balance algorithm with orientation from IMU sensor
- return value : void
void setForceTorqueBalanceEnable(bool enable)
- arguments :
- enable : true or false
- description : The function that turns on or off the balance algorithm with force and torque from ft sensor
- return value : void
void process(int *balance_error, Eigen::MatrixXd *robot_to_cob_modified, Eigen::MatrixXd *robot_to_right_foot_modified, Eigen::MatrixXd *robot_to_left_foot_modified)
- arguments :
- balance_error : the one of below values would be returned
- BalanceControlError::NoError(= 0) : There is no error.
- BalanceControlError::BalanceLimit(= 0) : The modification value by the balance algorithm is greater than the maximum modification.
- robot_to_cob_modified : the center of body modification calculated by balance algorithm
- robot_to_right_foot_modified : the right foot modification calculated by balance algorithm
- robot_to_left_foot_modified : the left_foot of body modification calculated by balance algorithm
- balance_error : the one of below values would be returned
- description : calculating balance algorithm using desired values and sensor outputs
- return value : void
void setDesiredPose(const Eigen::MatrixXd &robot_to_cob, const Eigen::MatrixXd &robot_to_right_foot, const Eigen::MatrixXd &robot_to_left_foot)
- arguments :
- robot_to_cob : desired pose of center of body with respect to robot’s local coordinate
- robot_to_right_foot : desired pose of right foot with respect to robot’s local coordinate
- robot_to_left_foot : desired pose of left foot with respect to robot’s local coordinate
- description : the function for setting desired pose of right foot, left foot and center of body
- return value : void
void setDesiredCOBGyro(double gyro_roll, double gyro_pitch)
- arguments :
- gyro_roll : desired x directional angular velocity with respect robot’s local coordinate
- gyro_pitch : desired y directional angular velocity with respect robot’s local coordinate
- description : the function for setting desired angular velocity
- return value : void
void setDesiredCOBOrientation(double cob_orientation_roll, double cob_orientation_pitch)
- arguments :
- cob_orientation_roll : desired roll angle in radian of robot’s local coordinate
- cob_orientation_pitch : desired pitch angle in radian of robot’s local coordinate
- description : the function for setting desired robot’s orientation
- return value : void
void setDesiredFootForceTorque(double r_force_x_N, double r_force_y_N, double r_force_z_N,
double r_torque_roll_Nm, double r_torque_pitch_Nm, double r_torque_yaw_Nm,
double l_force_x_N, double l_force_y_N, double l_force_z_N,
double l_torque_roll_Nm, double l_torque_pitch_Nm, double l_torque_yaw_Nm)
- arguments :
- r_force_x_N : desired x directional force on right foot with respect to robot’s local coordinate
- r_force_y_N : desired y directional force on right foot with respect to robot’s local coordinate
- r_force_z_N : desired z directional force on right foot with respect to robot’s local coordinate
- r_torque_roll_Nm : desired x directional torque on right foot with respect to robot’s local coordinate
- r_torque_pitch_Nm : desired y directional torque on right foot with respect to robot’s local coordinate
- r_torque_yaw_Nm : desired z directional torque on right foot with respect to robot’s local coordinate
- l_force_x_N : desired x directional force on left foot with respect to robot’s local coordinate
- l_force_y_N : desired y directional force on left foot with respect to robot’s local coordinate
- l_force_z_N : desired z directional force on left foot with respect to robot’s local coordinate
- l_torque_roll_Nm : desired x directional torque on left foot with respect to robot’s local coordinate
- l_torque_pitch_Nm : desired x directional torque on left foot with respect to robot’s local coordinate
- l_torque_yaw_Nm : desired x directional torque on left foot with respect to robot’s local coordinate
- description : the function for setting desired force in newton and torque in newton-meter on feet
- return value : void
void setCurrentGyroSensorOutput(double gyro_roll, double gyro_pitch)
- arguments :
- gyro_roll : current x directional angular velocity with respect robot’s local coordinate
- gyro_pitch : current y directional angular velocity with respect robot’s local coordinate
- description : the function for setting current angular velocity from IMU sensor
- return value :
void setCurrentOrientationSensorOutput(double cob_orientation_roll, double cob_orientation_pitch)
- arguments :
- cob_orientation_roll : current roll angle in radian of robot’s local coordinate
- cob_orientation_pitch : current pitch angle in radian of robot’s local coordinate
- description : the function for setting current orientation from IMU sensor
- return value : void
void setCurrentFootForceTorqueSensorOutput(
double r_force_x_N, double r_force_y_N, double r_force_z_N,
double r_torque_roll_Nm, double r_torque_pitch_Nm, double r_torque_yaw_Nm,
double l_force_x_N, double l_force_y_N, double l_force_z_N,
double l_torque_roll_Nm, double l_torque_pitch_Nm, double l_torque_yaw_Nm)
- arguments :
- r_force_x_N : current x directional force on right foot with respect to robot’s local coordinate
- r_force_y_N : current y directional force on right foot with respect to robot’s local coordinate
- r_force_z_N : current z directional force on right foot with respect to robot’s local coordinate
- r_torque_roll_Nm : current x directional torque on right foot with respect to robot’s local coordinate
- r_torque_pitch_Nm : current y directional torque on right foot with respect to robot’s local coordinate
- r_torque_yaw_Nm : current z directional torque on right foot with respect to roboti’s local coordinate
- l_force_x_N : current x directional force on left foot with respect to robot’s local coordinate
- l_force_y_N : current y directional force on left foot with respect to robot’s local coordinate
- l_force_z_N : current z directional force on left foot with respect to robot’s local coordinate
- l_torque_roll_Nm : current x directional torque on left foot with respect to robot’s local coordinate
- l_torque_pitch_Nm : current x directional torque on left foot with respect to robot’s local coordinate
- l_torque_yaw_Nm : current x directional torque on left foot with respect to robot’s local coordinate
- description : the function for setting current force and torque from force-torque sensor on both feet
- return value : void
void setMaximumAdjustment(
double cob_x_max_adjustment_m, double cob_y_max_adjustment_m, double cob_z_max_adjustment_m,
double cob_roll_max_adjustment_rad, double cob_pitch_max_adjustment_rad, double cob_yaw_max_adjustment_rad,
double foot_x_max_adjustment_m, double foot_y_max_adjustment_m, double foot_z_max_adjustment_m,
double foot_roll_max_adjustment_rad, double foot_pitch_max_adjustment_rad, double foot_yaw_max_adjustment_rad)
- arguments :
- cob_x_max_adjustment_m : the maximum x directinal linear modification of center of body
- cob_y_max_adjustment_m : the maximum y directinal linear modification of center of body
- cob_z_max_adjustment_m : the maximum z directinal linear modification of center of body
- cob_roll_max_adjustment_rad : the maximum x directinal angular modification of center of body
- cob_pitch_max_adjustment_rad : the maximum y directinal angular modification of center of body
- cob_yaw_max_adjustment_rad : the maximum z directinal angular modification of center of body
- foot_x_max_adjustment_m : the maximum x directinal linear modification of foot
- foot_y_max_adjustment_m : the maximum y directinal linear modification of foot
- foot_z_max_adjustment_m : the maximum z directinal linear modification of foot
- foot_roll_max_adjustment_rad : the maximum x directinal angular modification of foot
- foot_pitch_max_adjustment_rad : the maximum y directinal angular modification of foot
- foot_yaw_max_adjustment_rad : the maximum z directinal angular modification of foot
- description : the function for setting maximum modification
- return value : void
void setCOBManualAdjustment(
double cob_x_adjustment_m, double cob_y_adjustment_m, double cob_z_adjustment_m)
- arguments :
- cob_x_adjustment_m : the x offset of center of body
- cob_y_adjustment_m : the y offset of center of body
- cob_z_adjustment_m : the z offset of center of body
- description : the function for setting manual modification of center of body
- return value : void
double getCOBManualAdjustmentX()
- arguments : void
- description : the function for getting x directional manual modification of center of body
- return value : x directional manual modification of center of body
double getCOBManualAdjustmentY()
- arguments : void
- description : the function for getting y directional manual modification of center of body
- return value : y directional manual modification of center of body
double getCOBManualAdjustmentZ()
- arguments : void
- description : the function for getting z directional manual modification of center of body
- return value : z directional manual modification of center of body
void setGyroBalanceGainRatio(double gyro_balance_gain_ratio)
- arguments :
- gyro_balance_gain_ratio : gyro balance gain
- description : the function for setting gyro balance gain
- return value : void
double getGyroBalanceGainRatio(void)
- arguments : void
- description : the function for getting set gyro balance gain
- return value : current set gyro balance gain
DampingController foot_roll_angle_ctrl_
- description : damping controller for foot using roll angle
DampingController foot_pitch_angle_ctrl_
- description : damping controller for foot using pitch angle
DampingController right_foot_force_x_ctrl_
- description : damping controller for foot using force x on right foot
DampingController right_foot_force_y_ctrl_
- description : damping controller for foot using force y on right foot
DampingController right_foot_force_z_ctrl_
- description : damping controller for foot using force z on right foot
DampingController right_foot_torque_roll_ctrl_
- description : damping controller for foot using torque x on right foot
DampingController right_foot_torque_pitch_ctrl_
- description : damping controller for foot using torque y on right foot
DampingController left_foot_force_x_ctrl_
- description : damping controller for foot using force x on left foot
DampingController left_foot_force_y_ctrl_
- description : damping controller for foot using force y on left foot
DampingController left_foot_force_z_ctrl_
- description : damping controller for foot using force z on left foot
DampingController left_foot_torque_roll_ctrl_
- description : damping controller for foot using torque x on left foot
DampingController left_foot_torque_pitch_ctrl_
- description : damping controller for foot using torque y on left foot
BalanceControlUsingPDController Class
void initialize(const int control_cycle_msec)
- arguments :
- control_cycle_msec : control cycel of motion module in milliseconds
- description : the function that configures variables in the class according to arguments
- return value : void
void setGyroBalanceEnable(bool enable)
- arguments :
- enable : true or false
- description : The function that turns on or off the balance algorithm with gyro
- return value : void
void setOrientationBalanceEnable(bool enable)
- arguments :
- enable : true or false
- description : The function that turns on or off the balance algorithm with orientation from IMU sensor
- return value : void
void setForceTorqueBalanceEnable(bool enable)
- arguments :
- enable : true or false
- description : The function that turns on or off the balance algorithm with force and torque from ft sensor
- return value : void
void process(
int *balance_error,
Eigen::MatrixXd *robot_to_cob_modified,
Eigen::MatrixXd *robot_to_right_foot_modified,
Eigen::MatrixXd *robot_to_left_foot_modified)
- arguments :
- balance_error : the one of below values would be returned
- BalanceControlError::NoError(= 0) : There is no error.
- BalanceControlError::BalanceLimit(= 0) : The modification value by the balance algorithm is greater than the maximum modification.
- robot_to_cob_modified : the center of body modification calculated by balance algorithm
- robot_to_right_foot_modified : the right foot modification calculated by balance algorithm
- robot_to_left_foot_modified : the left_foot of body modification calculated by balance algorithm
- description : calculating balance algorithm using desired values and sensor outputs
- return value : void
void setDesiredPose(
const Eigen::MatrixXd &robot_to_cob,
const Eigen::MatrixXd &robot_to_right_foot,
const Eigen::MatrixXd &robot_to_left_foot)
- arguments :
- robot_to_cob : desired pose of center of body with respect to robot’s local coordinate
- robot_to_right_foot : desired pose of right foot with respect to robot’s local coordinate
- robot_to_left_foot : desired pose of left foot with respect to robot’s local coordinate
- description : the function for setting desired pose of right foot, left foot and center of body
- return value : void
void setDesiredCOBGyro(double gyro_roll, double gyro_pitch)
- arguments :
- gyro_roll : desired x directional angular velocity with respect robot’s local coordinate
- gyro_pitch : desired y directional angular velocity with respect robot’s local coordinate
- description : the function for setting desired angular velocity
- return value : void
void setDesiredCOBOrientation(
double cob_orientation_roll, double cob_orientation_pitch)
- arguments :
- cob_orientation_roll : desired roll angle in radian of robot’s local coordinate
- cob_orientation_pitch : desired pitch angle in radian of robot’s local coordinate
- description : the function for setting desired robot’s orientation
- return value : void
void setDesiredFootForceTorque(
double r_force_x_N, double r_force_y_N, double r_force_z_N,
double r_torque_roll_Nm, double r_torque_pitch_Nm, double r_torque_yaw_Nm,
double l_force_x_N, double l_force_y_N, double l_force_z_N,
double l_torque_roll_Nm, double l_torque_pitch_Nm, double l_torque_yaw_Nm)
- arguments :
- r_force_x_N : desired x directional force on right foot with respect to robot’s local coordinate
- r_force_y_N : desired y directional force on right foot with respect to robot’s local coordinate
- r_force_z_N : desired z directional force on right foot with respect to robot’s local coordinate
- r_torque_roll_Nm : desired x directional torque on right foot with respect to robot’s local coordinate
- r_torque_pitch_Nm : desired y directional torque on right foot with respect to robot’s local coordinate
- r_torque_yaw_Nm : desired z directional torque on right foot with respect to robot’s local coordinate
- l_force_x_N : desired x directional force on left foot with respect to robot’s local coordinate
- l_force_y_N : desired y directional force on left foot with respect to robot’s local coordinate
- l_force_z_N : desired z directional force on left foot with respect to robot’s local coordinate
- l_torque_roll_Nm : desired x directional torque on left foot with respect to robot’s local coordinate
- l_torque_pitch_Nm : desired x directional torque on left foot with respect to robot’s local coordinate
- l_torque_yaw_Nm : desired x directional torque on left foot with respect to robot’s local coordinate
- description : the function for setting desired force in newton and torque in newton-meter on feet
- return value : void
void setCurrentGyroSensorOutput(double gyro_roll, double gyro_pitch)
- arguments :
- gyro_roll : current x directional angular velocity with respect robot’s local coordinate
- gyro_pitch : current y directional angular velocity with respect robot’s local coordinate
- description : the function for setting current angular velocity from IMU sensor
- return value :
void setCurrentOrientationSensorOutput(double cob_orientation_roll, double cob_orientation_pitch)
- arguments :
- cob_orientation_roll : current roll angle in radian of robot’s local coordinate
- cob_orientation_pitch : current pitch angle in radian of robot’s local coordinate
- description : the function for setting current orientation from IMU sensor
- return value : void
void setCurrentFootForceTorqueSensorOutput(
double r_force_x_N, double r_force_y_N, double r_force_z_N,
double r_torque_roll_Nm, double r_torque_pitch_Nm, double r_torque_yaw_Nm,
double l_force_x_N, double l_force_y_N, double l_force_z_N,
double l_torque_roll_Nm, double l_torque_pitch_Nm, double l_torque_yaw_Nm)
- arguments :
- r_force_x_N : current x directional force on right foot with respect to robot’s local coordinate
- r_force_y_N : current y directional force on right foot with respect to robot’s local coordinate
- r_force_z_N : current z directional force on right foot with respect to robot’s local coordinate
- r_torque_roll_Nm : current x directional torque on right foot with respect to robot’s local coordinate
- r_torque_pitch_Nm : current y directional torque on right foot with respect to robot’s local coordinate
- r_torque_yaw_Nm : current z directional torque on right foot with respect to robot’s local coordinate
- l_force_x_N : current x directional force on left foot with respect to robot’s local coordinate
- l_force_y_N : current y directional force on left foot with respect to robot’s local coordinate
- l_force_z_N : current z directional force on left foot with respect to robot’s local coordinate
- l_torque_roll_Nm : current x directional torque on left foot with respect to robot’s local coordinate
- l_torque_pitch_Nm : current x directional torque on left foot with respect to robot’s local coordinate
- l_torque_yaw_Nm : current x directional torque on left foot with respect to robot’s local coordinate
- description : the function for setting current force and torque from force-torque sensor on both feet
- return value : void
void setMaximumAdjustment(
double cob_x_max_adjustment_m, double cob_y_max_adjustment_m, double cob_z_max_adjustment_m,
double cob_roll_max_adjustment_rad, double cob_pitch_max_adjustment_rad, double cob_yaw_max_adjustment_rad,
double foot_x_max_adjustment_m, double foot_y_max_adjustment_m, double foot_z_max_adjustment_m,
double foot_roll_max_adjustment_rad, double foot_pitch_max_adjustment_rad, double foot_yaw_max_adjustment_rad)
- arguments :
- cob_x_max_adjustment_m : the maximum x directinal linear modification of center of body
- cob_y_max_adjustment_m : the maximum y directinal linear modification of center of body
- cob_z_max_adjustment_m : the maximum z directinal linear modification of center of body
- cob_roll_max_adjustment_rad : the maximum x directinal angular modification of center of body
- cob_pitch_max_adjustment_rad : the maximum y directinal angular modification of center of body
- cob_yaw_max_adjustment_rad : the maximum z directinal angular modification of center of body
- foot_x_max_adjustment_m : the maximum x directinal linear modification of foot
- foot_y_max_adjustment_m : the maximum y directinal linear modification of foot
- foot_z_max_adjustment_m : the maximum z directinal linear modification of foot
- foot_roll_max_adjustment_rad : the maximum x directinal angular modification of foot
- foot_pitch_max_adjustment_rad : the maximum y directinal angular modification of foot
- foot_yaw_max_adjustment_rad : the maximum z directinal angular modification of foot
- description : the function for setting maximum modification
- return value : void
void setCOBManualAdjustment(double cob_x_adjustment_m, double cob_y_adjustment_m, double cob_z_adjustment_m)
- arguments :
- cob_x_adjustment_m : the x offset of center of body
- cob_y_adjustment_m : the y offset of center of body
- cob_z_adjustment_m : the z offset of center of body
- description : the function for setting manual modification of center of body
- return value : void
double getCOBManualAdjustmentX()
- arguments : void
- description : the function for getting current set x directional manual modification of center of body
- return value : x directional manual modification of center of body
double getCOBManualAdjustmentY()
- arguments : void
- description : the function for getting current set y directional manual modification of center of body
- return value : y directional manual modification of center of body
double getCOBManualAdjustmentZ()
- arguments : void
- description : the function for getting current set z directional manual modification of center of body
- return value : z directional manual modification of center of body
BalancePDController foot_roll_gyro_ctrl_
- description : PD controller for foot using x directional gyro
BalancePDController foot_pitch_gyro_ctrl_
- description : PD controller for foot using y directional gyro
BalancePDController foot_roll_angle_ctrl_
- description : PD controller for foot using roll angle
BalancePDController right_foot_force_x_ctrl_
- description : PD controller for foot using x directional force on right foot
BalancePDController right_foot_force_y_ctrl_
- description : PD controller for foot using y directional force on right foot
BalancePDController right_foot_force_z_ctrl_
- description : PD controller for foot using z directional force on right foot
BalancePDController right_foot_torque_roll_ctrl_
- description : PD controller for foot using x directional torque on right foot
BalancePDController right_foot_torque_pitch_ctrl_
- description : PD controller for foot using y directional torque on right foot
BalancePDController left_foot_force_x_ctrl_
- description : PD controller for foot using x directional force on left foot
BalancePDController left_foot_force_y_ctrl_
- description : PD controller for foot using y directional force on left foot
BalancePDController left_foot_force_z_ctrl_
- description : PD controller for foot using z directional force on left foot
BalancePDController left_foot_torque_roll_ctrl_
- description : PD controller for foot using x directional torque on left foot
BalancePDController left_foot_torque_pitch_ctrl_
- description : PD controller for foot using y directional torque on left foot
BalanceLowPassFilter roll_gyro_lpf_
- description : Low Pass Filter for x directional angular velocity from IMU
BalanceLowPassFilter pitch_gyro_lpf_
- description : Low Pass Filter for y directional angular velocity from IMU
BalanceLowPassFilter roll_angle_lpf_;
- description : Low Pass Filter for roll angle from IMU
BalanceLowPassFilter pitch_angle_lpf_;
- description : Low Pass Filter for pitch angle from IMU
BalanceLowPassFilter right_foot_force_x_lpf_;
- description : Low Pass Filter for x directional force from force-torque sensor on right foot
BalanceLowPassFilter right_foot_force_y_lpf_;
- description : Low Pass Filter for y directional force from force-torque sensor on right foot
BalanceLowPassFilter right_foot_force_z_lpf_;
- description : Low Pass Filter for z directional force from force-torque sensor on right foot
BalanceLowPassFilter right_foot_torque_roll_lpf_;
- description : Low Pass Filter for x directional torque from force-torque sensor on right foot
BalanceLowPassFilter right_foot_torque_pitch_lpf_;
- description : Low Pass Filter for y directional torque from force-torque sensor on right foot
BalanceLowPassFilter left_foot_force_x_lpf_;
- description : Low Pass Filter for x directional force from force-torque sensor on left foot
BalanceLowPassFilter left_foot_force_y_lpf_;
- description : Low Pass Filter for y directional force from force-torque sensor on left foot
BalanceLowPassFilter left_foot_force_z_lpf_;
- description : Low Pass Filter for z directional force from force-torque sensor on left foot
BalanceLowPassFilter left_foot_torque_roll_lpf_;
- description : Low Pass Filter for x directional torque from force-torque sensor on left foot
BalanceLowPassFilter left_foot_torque_pitch_lpf_;
- description : Low Pass Filter for y directional torque from force-torque sensor on left foot
imu-3dm-gx4
This module is for the IMU Sensor(MicroStrain 3DM-GX4-25).
This module exists in a separated Node, and this module is launched along with the thormang3_manager when executing .launch file of the thormang3_manager.
This is the modified version of KumarRobotics/imu_3dm_gx4.
Download & Build
Reference
: MPC Installation
ROS API
Published Topics
/robotis/sensor/imu/imu
(sensor_msgs/Imu)
Present output of the IMU Sensor
PPC Packages
thormang3_sensors
Thormang3 sensor related package.
This package contains sensor related launch files.
The package also includes a node for assembling Laserscan(LaserScan to PointCloud)
Download & Build
Reference
: PPC Installation
Run
Execute Launch file
$ roslaunch thormang3_sensors thormang3_sensors.launch
- thormang3_sensors.launch
- thormang3_pointcloud.launch
- scan_to_scan_filter_chain (laser_filters) : Filter LaserScan topics
- laser_scan_assembler (laser_assembler) : The service assembles LaserScan
- assemble_laser_node (thormang3_sensors) : Create PointCloud from Assemble Service
- thormang3_realsense.launch : Contains Intel RealSense configuration and launch the program.
- thormang3_web_cam.launch : Contains Web Camera configuration and launch the program.
- thormang3_pointcloud.launch
ROS API : assemble_laser_node
Subscribed Topics
/robotis/sensor/move_lidar
(std_msgs/String)
Configures start and end time to assemble LaserScan
Set the start time when receiving start message.
Set the end time and assemble Pointcloud when receiving end message.
Published Topics
/robotis/sensor/assembled_scan
(sensor_msgs/PointCloud2)
Assembled PointCloud
Services Called
/robotis/sensor/service/assemble_scan2
(laser_assembler/AssembleScan2)
Get assembled PointCloud from the Service with LaserScan start/end parameters.
thormang3_simple_demo
thormang3_manipulation_demo
Thormang3 manipulation simple demonstration
Download & Build
Reference
: PPC Installation
Run
Reference : Manipulation Simple Demo from How to execute Simple Demonstration
ROS API
Subscribed Topics
/robotis/manipulation_demo/command
(std_msgs/String)
The topic to run various Manipulation simple demo commands.
Published Topics
/robotis/base/ini_pose
(std_msgs/String)
The topic to take initial posture of the Base Module
/robotis/enable_ctrl_module
(std_msgs/String)
The topic to set upper body of the robot with the Manipulation Module
/robotis/manipulation/ini_pose_msg
(std_msgs/String)
The topic to take initial posture of the Manipulation Module
/robotis/manipulation/kinematics_pose_msg
(thormang3_manipulation_module_msgs/KinematicsPose)
The topic to take initial posture of the Manipulation Module
thormang3_walking_demo
Thormang3 Walking simple demonstration
Download & Build
Reference
: PPC Installation
Run
Reference
: Walking Simple Demo of How to execute Simple Demonstration
ROS API
Subscribed Topics
/robotis/status
(robotis_controller_msgs/StatusMsg)
Status message of THORMANG3
robotis/walking_demo/command
(std_msgs/String)
Command for walking simple demo
Published Topics
robotis/base/ini_pose
(std_msgs/String)
The command delivered to the thormang3_base_module to take the initial posture.
/robotis/enable_ctrl_module
(std_msgs/String)
The topic to set lower body of the robot with the Walking Module.
Services Called
/robotis/walking/get_reference_step_data
(thormang3_walking_module_msgs/GetReferenceStrpData)
The service obtains current location of THORMANG3 from the Walking Module in the Global space.
/robotis/walking/add_step_data
(thormang3_walking_module_msgs/AddStepDataArray)
The service adds StepData created by the user.
/robotis/walking/set_balance_param
(thormang3_walking_module_msgs/SetBalanceParam)
The service sets parameters related to the Balance Algorithm.
OPC Packages
humanoid_navigation
Reference
: http://wiki.ros.org/humanoid_navigationSource
: https://github.com/AravindaDP/humanoid_navigation-
Prerequisite Packages
: map_server, humanoid_nav_msgs, nav_msgs, sbpl, etc - Packages Installation
$ sudo apt-get install ros-kinetic-map-server
$ sudo apt-get install ros-kinetic-humanoid-nav-msgs
$ sudo apt-get install ros-kinetic-nav-msgs
$ sudo apt-get install ros-kinetic-octomap
$ sudo apt-get install ros-kinetic-octomap-msgs
$ sudo apt-get install ros-kinetic-octomap-ros
$ sudo apt-get install ros-kinetic-octomap-server
- Building and Installing from source
footstep_planner
The footstep planner for humanoids or bipedal robots.
Reference
: http://wiki.ros.org/footstep_planner
RUN
$ roslaunch footstep_planner thormang3_footstep_planner.launch
Configurations
- config/footsteps_thormang3.yaml : Footstep configuration of THORMANG3
- config/planning_params_thormang3.yaml
- config/planning_params.yaml : Configuration of planner parameters
gridmap_2d
Reference
: http://wiki.ros.org/gridmap_2d
humanoid_localization
Reference
: http://wiki.ros.org/humanoid_localization
thormang3_demo
The package for THORMANG3 demonstration.
Initial posture, walking, manipulation, head control are available with this package.
Feet ft calibration, Pointcloud conversion are available with this package.
Download & Build
Reference
: OPC Installation
Run
Execute the launch file
$ roslaunch thormang3_demo thormang3_demo.launch
- Configuration file used in
thormang3_demo
(config/demo_config.yaml)id_joint : id and joint name tables module_list : Module name displayed on each joint in the demo program. module_button : Modules to configure with the manager (index : module name)
ROS API
Subscribed Topics
/robotis/feet_ft/both_ft_value
(thormang3_feet_ft_module_msgs/BothWrench)
FT value for calibration
/robotis/status
(robotis_controller_msgs/StatusMsg)
Status message of THORMANG3
/robotis/present_joint_ctrl_modules
(robotis_controller_msgs/JointCtrlModule)
Joint modules that are currently in use
/robotis/present_joint_states
(sensor_msgs/JointState)
Degree of each joint(Unit in Degree)
/robotis/demo/pose
(geometry_msgs/Pose)
Pose that are used for Walking and Manipulation
Published Topics
/robotis/set_joint_ctrl_modules
(robotis_controller_msgs/JointCtrlModule)
Configuring each joint modules (configure for each joint, Not recommended to use)
/robotis/enable_ctrl_module
(std_msgs/String)
Configure modules to control
/robotis/base/ini_pose
(std_msgs/String)
Initial posture of Thormang3
/robotis/feet_ft/ft_calib_command
(std_msgs/String)
FT Calibration related command
/robotis/head_control/move_lidar
(std_msgs/String)
Head movement command for assembling LaserScan.
/robotis/head_control/set_joint_states
(sensor_msgs/JointState)
Control for separate head joints
/robotis/demo/foot_step_marker
(visualization_msgs/MarkerArray)
Visualized footstep messages created by footstep_planner
/robotis/manipulation/ini_pose_msg
(std_msgs/String)
Initial posture command for Manipulation
/robotis/manipulation/joint_pose_msg
(thormang3_manipulation_module_msgs/JointPose)
Control the robot in Joint Space
/robotis/manipulation/kinematics_pose_msg
(thormang3_manipulation_module_msgs/KinematicsPose)
Control the robot in Task Space
/robotis/thormang3_foot_step_generator/walking_command
(thormang3_foot_step_generator/FootStepCommand)
Create footsteps from the foot_step_generator with the walking parameter and direction.
/robotis/thormang3_foot_step_generator/footsteps_2d
(thormang3_foot_step_generator/Step2DArray)
2D step array to create footsteps for THORMANG3
/robotis/thormang3_foot_step_generator/balance_command
(std_msgs/Bool)
Balance On/Off of THORMANG3
Services Called
/robotis/get_present_joint_ctrl_modules
(robotis_controller_msgs/GetJointModule)
Obtains module that is currently in use for each joint.
/plan_footsteps
(humanoid_nav_msgs/PlanFootsteps)
Creates footsteps from map and footstep_planner
/robotis/manipulation/get_joint_pose
(thormang3_manipulation_module_msgs/GetJointPose)
Obtains joint pose of selected manipulation group.
/robotis/manipulation/get_kinematics_pose
(thormang3_manipulation_module_msgs/GetKinematicsPose)
Obtains end effector pose of selected manipulation group.
Parameters
~demo_config
(string, default: /config/demo_config.yaml)
Configuration file path of the demo program.
thormang3_action_script_player
The Node that can play a action script.
The default action script is in the “thormang3_action_script_player/script/action_script.yaml”.
The user can specify the path of the action script file via rosparameter.
The thormang3_action_script_player is used with thormang3_action_module and ros_mpg321_player.
Download & Build
Reference
: OPC Installation
Run
thormang3_action_script_player runs with thormang3_demo.
Reference : Remote Control(GUI Demo)
If user wants to run thormang3_action_script_player separately, user can run it from OPC with the following command.
$ rosrun thormang3_action_script_player thormang3_action_script_player
How to write action script
The default action script file is in the “thormang3_action_script_player/script/action_script.yaml”.
The action script has the following structure.
script2:
cmd1: {cmd_name: play, cmd_arg: 2}
cmd2: {cmd_name: sleep, cmd_arg: 1800}
cmd3: {cmd_name: mp3, cmd_arg: "/home/robotis/Music/thormang_mp3/hello_kor.mp3"}
cmd4: {cmd_name: sleep, cmd_arg: 1100}
cmd5: {cmd_name: mp3, cmd_arg: "/home/robotis/Music/thormang_mp3/i_am_thormang_kor.mp3"}
The action script is a list of cmd#, and scripts are executed in order of cmd#.
cmd# has two parameters. one is cmd_name, and the othrer is cmd_arg.
There are below four cmd_name in the action script.
- play : “Play” cmd_name means to execute action. User can specify the page number to execute as cmd_arg.
- mp3 : “mp3” cmd_name means to play sound file. User can specify the sound file path to play as cmd_arg.
Because ros_mpg321_player is excuted in PPC, the sound file has to be in PPC. - wait : “wait” cmd_name means to wait until finish of action playing. There is no cmd_arg for “wait” cmd_name.
- sleep : “sleep” cmd_name means to wait for a certain amount of time. User can specify the wait time as cmd_arg.
ROS API
Subscribed Topics
/robotis/demo/action_index
(std_msgs/Int32)
The action script number to play.
Parameters
/action_script_file_path
(string, default : “thormang3_action_script_player/script/action_script.yaml”)
The location of action script file.
thormang3_foot_step_generator
The Node that can create a basic Step Data.
Based on the simple Parameter from Topic, the package creates StepData and transmit it to thormang3_walking_module.
Download & Build
Reference
: OPC Installation
Run
Reference : How to operate walking module
ROS API
Subscribed Topics
/robotis/status
(robotis_controller_msgs/Status)
Status message of THORMANG3
/robotis/thormang3_foot_step_generator/walking_command
(thormang3_foot_step_generator/FootStepCommand)
The topic includes walking type and step length.
/robotis/thormang3_foot_step_generator/footsteps_2d
(thormang3_foot_step_generator/Step2DArray)
Planar walking step data contains x, y, theta and moving_foot_flag
Services Called
/robotis/walking/get_reference_step_data
(thormang3_walking_module_msgs/GetReferenceStepData)
The service obtains current location of THORMANG3 in the Global space from the Walking Module.
/robotis/walking/add_step_data
(thormang3_walking_module_msgs/AddStepDataArray)
The service adds StepData created by the User.
/robotis/walking/set_balance_param
(thormang3_walking_module_msgs/SetBalanceParam)
The service initiates walking.
/robotis/walking/is_running
(thormang3_walking_module_msgs/IsRunning)
The service checks whether the robot is walking or not.
ROS Message Type
thormang3_offset_tuner_client
The GUI Node that can adjust offset of THORMANG3. It is used with the thormang3_offset_tuner_server.
Download & Build
Reference
: OPC Installation
Run
$ rosrun thormang3_offset_tuner_client thormang3_offset_tuner_client
ROS API
Published Topics
/robotis/offset_tuner/joint_offset_data
(thormang3_offset_tuner_msgs/JointOffsetData|JointOffsetData.msg)
The topic transfers Joint offset
/robotis/offset_tuner/torque_enable
(thormang3_offset_tuner_msgs/JointTorqueOnOffArray|JointTorqueOnOffArray.msg)
The topic executes Torque on/off command
/robotis/offset_tuner/command
(std_msgs/String)
The topic transfers other commands(save, initial posture, etc).
Services
/robotis/offset_tuner/get_present_joint_offset_data
(thormang3_offset_tuner_msgs/GetPresentJointOffsetData|GetPresentJointOffsetData.srv)
The service obtains saved joint offset
Parameters
~/ROBOTIS-THORMANG-MPC/thormang3_manager/config/offset.yaml
Saved offset value
Common Packages
thormang3_description
Thormang3 URDF Model
-
Make a URDF Model : URDF-ROS Wiki:http://wiki.ros.org/urdf
-
Package
- doc : document for Thormang3 joint & link information
- launch : launch file to execute Rviz
- meshes : STL files of Thormang3’s each parts
- src : ROS node for Rviz to publish imaginary gripper joint
- urdf : urdf & xacro files for Thormang3 model
thormang3_gazebo
Thormang3 Gazebo Simulation
-
Gazebo with ROS : Connect to ROS:http://gazebosim.org/tutorials?cat=connect_ros
-
Package
- config : ros controller for gazebo
- launch : launch files to execute gazebo simulation
- worlds : simulation environments
Tools Packages
thormang3_offset_tuner_server
THORMANG3 Offset Tuner Node
Data related to the Offset can be Tuned, Loaded and Saved.
It is used with the thormang3_offset_tuner_client.
Download & Build
Reference
: MPC Installation
Run
Execute the launch file.
$ roslaunch thormang3_offset_tuner_server thormang3_offset_tuner_server.launch
ROS API
Subscribed Topics
/robotis/base/send_tra
(std_msgs/String)
The topic informs the start and end of trajectory following.
/robotis/offset_tuner/joint_offset_data
(thormang3_offset_tuner_msgs/JointOffsetData)
The topic updates joint offset related parameters.
/robotis/offset_tuner/torque_enable
(thormang3_offset_tuner_msgs/JointTorqueOnOffArray)
The topic transfers Torque enable/disable command for joints.
/robotis/offset_tuner/command
(std_msgs/String)
The topic transfers command to the thormang3_offset_tuner_client.
- “save” : Saves current offset to yaml
- “ini_pose” : Take the initial posture for offset tuning
Services
robotis/offset_tuner/get_present_joint_offset_data
(thormang3_offset_tuner_msgs/GetPresentJointOffsetData)
The service obtains current offset data from the thormang3_offset_tuner_client.
thormang3_action_editor
THORMANG3 Action Editor Node
The action file can be edited by this action editor.
The action file will be used with thormang3_action_module.
Action File
The action file is in the “thormang3_action_module/data” folder. The action file is a file that contains THORMANG3’s poses and time data.
The data is written that the positions of dynamixels which converted from original resolution to 4095 resolution.
And the action file is binaries file you cannot view its contents directly. User can view its contents with thormang3_action_editor.
ROBOTIS currently supplies a default action file with the source code. They are located in “thormang3_action_module/data” directory.
The action file contains 256 pages. Each page can store up to 7 stages (or steps) of action data. In the default action file provided not all pages are used. User can add user’s own action by using of the empty pages.
Download & Build
Reference
: MPC Installation
Run
Execute the launch file on the MPC.
$ roslaunch thormang3_action_editor thormang3_action_editor.launch
UI
- Page number: Page number is the listed page number. If user wants to create a new action poses, user can use any empty page.
- Page title: We’d like to recommend to user that they use a page title, if they will make a new action on an empty page.
- Current position: This is the current position of dynamixels which converted from original resolution to 4095 resolution. This data is represented by STP7 in thormang3_action_editor. Sometimes the position may read as —- in thormang3_action_editor. This means position of the dynamixel is not being read (or its torque is off).
If user turn a dynamixel off, user cannot get current position reading until user turn it back on.
User can turn off any or all dynamixels. This is very convenient to make robot poses rather than entering position values.
For example, if user wants to make a new robot pose, user simply turns any dynamixels off, makes the robot pose, and turn the dynamixels back on at that robot pose. Once turning on, user will get the pose values. - Steps or stages: Each page can be stored up to 7 steps, from STP0 to STP6. However, some actions may be required more than 7 stages to perform completely. It can be resolved by simply using multiple pages and link them with “Next”.
- Next: “Next” indicates whether or not action continues at a different page. To continue actions, just list the page number where action is to be continued. Number 0 indicates that action does not continue onto another page (default value). Linking page does not have to the in numerical order allowing you to link from one page to any other page.
- Play Count: “Play Count” is the number of times the action of the page is to be played.
- Exit: There may be times when an action is stopped. In this case, the robot may be in an unstable position. “Exit” is much like “Next”, so “Exit” should be linked to a page where THORMANG3 can return to a stable pose.if “Exit” is 0, it means that there is no link to exit page linked (default value).
Tip
When calling an action requires multiple pages, we strongly suggest that user call that action from the starting page. For example “clap” starts at page 7 and ends at page 8. This means you should call page 7 when calling “clap.” Calling the page 8 may cause the robot to perform abnormally. - STP7: “STP7” column is the current position of the dynamixels which converted to 4095 resolution from its original resolution. “—-“ means that torque has been released.
- PauseTime: “PauseTime” is the pause for motion playback for step STP[x].
- Time(x 8msec) : “Time” is the time period for THORMANG3 to complete step STP[x]. Each time unit account for 8ms of time.
It is strongly advised that when user tests user’s own newly-created or edited actions, there should be small incremental changes in position, speed/time, and pause values for the sake of THORMANG3’s stability.
The Contents of The Default Action File
The below table shows the contents of the default action file.
| page number | page title | brief description of page | number of pages |
|---|---|---|---|
| 1 | walki_init | initial standing pose | 1 |
| 2 | hello | greeting | 1 |
| 3 | thank_you | Thank you | 1 |
| 4 | yes | yes | 1 |
| 5 | no | no | 1 |
| 6 | fighting | fighting | 1 |
| 7 | clap | clap | 2 |
| 9 | S_H_RE | ready for shaking hands | 1 |
| 10 | S_H | shaking hands | 1 |
| 11 | S_H_END | move to initialpose fram ready pose for shaking hands | 1 |
| 12 | scanning | looking around | 1 |
| 13 | ceremony | ceremony | 1 |
Basic Command of Action Editor
After typing “help”, the commend list will appear as shown below.
- exit: exits the program.
- re: refreshes the screen.
- b: moves to the previous page.
- n: moves to the next page.
- page [index]: moves to the [index] page. For example typing page 5 outputs data from page 5 on screen.
- list: outputs a list of pages.
- new: initializes current page by clearing all actuator position data.
- copy [index]: copies data from page [index] to current page. For example if you are on page 5 and want to copy page 9 then type copy 9.
- set [value]: sets position value on chosen actuator. For example If you want ID19 (head pan) to have a value of 512 then using the keyboard’s directional keys place the cursor on ID19 and type set 512.
- save: saves any changes you’ve made. the saved motion file (motion_4096.bin can be found at “thormang3_action_module/data”)
- play: plays motion(s) of current page.
- name: changes the name of the current page. You can view the name of the page at the top right portion of the screen. For example, page 2 is titled hello; to change the name type name and press the “ENTER” key. “name:” will appear at the bottom of the screen. Input the desired name for the page, good for instance, and press the “ENTER” key again.
- i: inserts data from STP7 to STP0. Moves data from STP[x] to STP[x + 1] if any.
- i [index]: inserts data from STP7 to STP[index]. Moves data from STP[index] to STP[index + 1] if any.
- m [index] [index2]: moves data from [index2] to [index].
- d [index]: deletes data from STP[index]. Moves data from STP[index] to STP[index - 1].
- on/off: turns on/off torque from all Dynamixels.
- on/off [index1] [index2] [index3] … : turns torque on/off from ID[index1] ID[index2] ID[index3]. For example off 20 releases torque from ID20. Notice that STP7 for ID20 will read [—-]. Typing on 20 turns torque from ID20 on again and the screen outputs the current position data of ID20.
Example Action editing with thormang3_action_editor
- Run the thormang3_action_editor on MPC
-
Find the page where the “walking_init page” is by typing “list”
-
Exit the list and go to any blank page by typing “page [x]”(for example, page 15).
-
And copy the page 1 to page [x].
- Go to “walking_init” pose by typing “play”
-
Turn off the torque of ID 2, 4 and 8 by typing “off 2 4 8”
-
After getting the desired pose turn torque on again by simple typing on. And insert the pose to step 1 by typing “i 1”
-
Edit “Pause Time”, “Time” of STP1 and “Page Step” as shown below.
- Type “play” and check the THORMANG3’s action
THORMANG msgs Package
thormang3_action_module_msgs
The followings are Messages and Services used for the thormang3_action_module.
- ROS Message Type : StartAction.msg
- ROS Service Type : IsRunning.srv
thormang3_feet_ft_module_msgs
Message used in the thormang3_feet_ft_module.
- ROS Message Type : BothWrench.msg
thormang3_manipulation_module_msgs
Messages and Services used in the thormang3_manipulation_module
- ROS Message Type
- ROS Service Type
thormang3_walking_module_msgs
Messages and Services used in the thormang3_walking_module.
- ROS Message Type
- ROS Service Type
thormang3_head_control_module_msgs
Messages used in the thormang3_head_control_module
- ROS Message Type : HeadJointPose.msg
thormang3_offset_tuner_msgs
The following are Messages and Service used for the thormang3_offset_tuner_server and the thormang3_offset_tuner_client.
- ROS Message Type
- ROS Service Type


| 076:012 Khan | : |
And their recompense shall be Paradise, and silken garments, because they were patient. |
| 076:012 Maulana | : |
And reward them, for their steadfastness, with a Garden and with silk, |
| 076:012 Pickthal | : |
And hath awarded them for all that they endured, a Garden and silk attire; |
| 076:012 Rashad | : |
He rewards them for their steadfastness with Paradise, and silk. |
| 076:012 Sarwar | : |
For their patience, He will reward them with Paradise and silk. |
| 076:012 Shakir | : |
And reward them, because they were patient, with garden and silk, |
| 076:012 Sherali | : |
And HE will reward them for their steadfastness, with a Garden and raiments of silk, |
| 076:012 Yusufali | : |
And because they were patient and constant, He will reward them with a Garden and (garments of) silk. |
Concepts/Themes Covered: الإيمان > الغيب > الجنة > أصحاب الجنة Faith> The Unseen World> The Paradise> The Companions of the Garden الإيمان > الغيب > الجنة > صفات الجنة Faith> The Unseen World> The Paradise> Characteristics of Paradise الإيمان > اليوم الآخر > جزاء العمل الحسن Faith> The Hereafter> The Reward of Good Action العمل > العمل الصالح > العمل المفضي إلى البر Action(Work)> The Good Deeds>Action which leads to Righteousness
This tool uses eight English parallel translations for the Holy Quran imported from Mr. Clay Smith. You can also visit Qurany Concepts for browsing the Quran themes or topics. If you want to search the Holy Quran for keywords, please visit Qurany Keywords.


Applications
~[tlist_child:STUDENTS.U_CAREERINFORMATION.U_SECONDARYAPPLICATIONS; displaycols: institution, requestDate, appStatus, scholarship, completionDate, instituteOutcome, studentDecision, appComment; fieldNames: Institution, Request Date, Application Status, Scholarship?, Completion Date, Institute Outcome, Student Decision, Comments; type:html]
Scholarships
~[tlist_child:STUDENTS.U_CAREERINFORMATION.U_SCHOLARSHIP; displaycols: scholarship, scholarURL, scholarValue, submitted, awarded, conditions; fieldNames: Scholarship, Website, Monetary Value, Submitted?, Awarded?, Conditions; type:html]
~[if.pref.bandfunding=1]
Funding/Support through Band
~[tlist_child:STUDENTS.U_CAREERINFORMATION.U_BANDSUPPORT; displaycols: bandApp, band, appDate, bandApproval, subInstitute, tuitionDeposit; fieldNames: Application submitted to Band?, Band Affiliation, Application Date, Band Approval?, Submitted to Institute?, Tuition Deposited; type:html]
[/if]
~[tlist_child:STUDENTS.U_CAREERINFORMATION.U_CERTIFICATES; displaycols: certificateName, certLevel, certURL, creditHours, completionDate, expiryDate, certCourse, certComment; fieldNames: Certificate, Level, Website, Credit Hours, Completion Date, Expiry Date, Course Affiliation, Comments; type:html]
~[tlist_child:STUDENTS.U_CAREERINFORMATION.U_VOLUNTEERISM; displaycols: location, description, hours, frequency, startDate, endDate, supervisor, supPhone, supEmail; fieldNames: Organization/Event/Person, Description, Hours, Frequency, Start Date, End Date, Supervisor, Phone, Email; type:html]


Say Hello
Have a question? We are here to help! Email us at<EMAIL_ADDRESS>for the fastest response.
After countless hours of research and brainstorming, we are excited to bring you the brainchild of Mimi Midnight and Vera Kim: 2 dance intensives, one focused on movement quality, another to ignite your movement magic! These are all-level intensives designed for students that want to progress their dance or to just have fun!
Technique, precision, engagement. Create flow and fluidity and enhance your movement quality.
Performance, expression, connection. Learn how to dance, and not just move.
Learn moreWe believe that two is better than one. The education you get from these intensives is the combined knowledge of Mimi and Vera and unavailable in any of our individual workshops. We’ve created these intensives through many hours of collaboration and brainstorming to bring you the best of two minds.
Our mission is to unlock the potential in each student and share our knowledge about dance to the world. We are facilitators, not just educators. We are here to help guide students to self-discovery, not to force our individual styles onto others.
About usHave a question? We are here to help! Email us at<EMAIL_ADDRESS>for the fastest response.


From:Wallumrod Ellen To:Neal Scott Sent:2017-01-11T04:42:03.0000000Z Subject:FW: Williams Physical Gas Master
Scott,
Did you have any success talking to Williams ?
Regards,
Ellen
x54099
-----Original Message-----
From: Wallumrod, Ellen
Sent: Friday, October 26, 2001 5:00 PM
To: Neal, Scott
Subject: Williams Physical Gas Master
Scott,
As discussed yesterday we really appreciate your help in moving the negotiations along for the Master with Williams Energy Marketing & Trading Company.
Just to give you some facts:
We do have a GISB with Williams, of which they are the Confirming Party. Williams has made a decision not to confirm any deals less than a month in term, this is breach of contract. We currently have over 800 deals pending execution as they are not sending paper.
We have been unsuccessful for several months and the hold-up seems to be with Williams Legal group. Their Credit group is in favor of this Master as I understand it.
Below are the several people we have been in contact with over the last several months.
Credit: Trey Skelton @<PHONE_NUMBER> and Tim Neuman @<PHONE_NUMBER>
Legal: Kelly Knowlton @<PHONE_NUMBER>
Debra Perlingiere in ENA Legal is handling the negotiations on our side and can be reached at<PHONE_NUMBER>.
If you have any questions, please call me x54099.
Many thanks for your help !
Best Regards
Ellen
***********
EDRM Enron Email Data Set has been produced in EML, PST and NSF format by ZL Technologies, Inc. This Data Set is licensed under a Creative Commons Attribution 3.0 United States License <http://creativecommons.org/licenses/by/3.0/us/> . To provide attribution, please cite to "ZL Technologies, Inc. (http://www.zlti.com)."
***********
California


Starting a conversation with a homeless individual is easy: just walk up and start talking! Still, some people get nervous doing this. Here is a list of frequently asked questions that may help you.
Look for individuals who are facing the sidewalk. A good sign is if they're holding a sign! They may also be just sitting on a bench or leaning against a wall. Never approach anyone who's sleeping or facing away from you.
Start a conversation the same way you would any other! Say "hello," introduce yourself, and ask the other person how they're doing.
Anything! In terms of questions you might like to explore, you can ask what they're working towards, how they became homeless, or what their needs are right now. If they mention an interest they have, you can ask more about it.
Showing that you care and that you're willing to listen is all you need to do. Don't be concerned with "correctness;" all you need is to have a conversation. You might be the only person the individual talks to that day, so it will be important no matter what.


The program GRNN implements the algorithm proposed by Specht (1991).
| Version: | 0.1.0 |
| Published: | 2013-05-16 |
| Author: | Pierre-Olivier Chasset |
| Maintainer: | Pierre-Olivier Chasset <pierre-olivier at chasset.net> |
| License: | AGPL |
| URL: | http://flow.chasset.net/r-grnn/ |
| NeedsCompilation: | no |
| Citation: | grnn citation info |
| Materials: | NEWS |
| CRAN checks: | grnn results |
| Reference manual: | grnn.pdf |
| Package source: | grnn_0.1.0.tar.gz |
| Windows binaries: | r-devel: grnn_0.1.0.zip, r-release: grnn_0.1.0.zip, r-oldrel: grnn_0.1.0.zip |
| OS X binaries: | r-release: grnn_0.1.0.tgz, r-oldrel: grnn_0.1.0.tgz |
| Reverse imports: | BETS |
Please use the canonical form https://CRAN.R-project.org/package=grnn to link to this page.


Illuminant estimation leveraging temporal information
Computational Colour Constancy (CCC) consists of estimating the colour of one or more illuminants in a scene and using them to remove unwanted chromatic distortions. The Temporal Colour Constancy (TCC) task pursue the same aim but leverages the temporal information intrinsic in sequences of correlated images (e.g., the frames in a video).
Matteo Rizzo, Cristina Conati, Daesik Jang, Hui Hu (ArXiv, 2021) [https://github.com/matteo-rizzo/cctcc]
Computational Colour Constancy (CCC) consists of estimating the colour of one or more illuminants in a scene and using them to remove unwanted chromatic distortions. Much research has focused on illuminant estimation for CCC on single images, with few attempts of leveraging the temporal information intrinsic in sequences of correlated images (e.g., the frames in a video), a task known as Temporal Colour Constancy (TCC). The state-of-the-art for TCC is TCCNet, a deep-learning architecture that uses a ConvLSTM for aggregating the encodings produced by CNN submodules for each image in a sequence. We extend this architecture with different models obtained by (i) substituting the TCCNet submodules with C4, the state-of-the-art method for CCC targeting images; (ii) adding a cascading strategy to perform an iterative improvement of the estimate of the illuminant. We tested our models on the recently released TCC benchmark and achieved results that surpass the state-of-the-art. Analyzing the impact of the number of frames involved in illuminant estimation on performance, we show that it is possible to reduce inference time by training the models on few selected frames from the sequences while retaining comparable accuracy.
Yanlin Qian, Jani Käpylä, Joni-Kristian Kämäräinen, Samu Koskinen, Jiri Matas (ArXiv, 2020) [https://github.com/yanlinqian/Temporal-Color-Constancy]
Temporal Color Constancy (CC) is a recently proposed approach that challenges the conventional single-frame color constancy. The conventional approach is to use a single frame - shot frame - to estimate the scene illumination color. In temporal CC, multiple frames from the view finder sequence are used to estimate the color. However, there are no realistic large scale temporal color constancy datasets for method evaluation. In this work, a new temporal CC benchmark is introduced. The benchmark comprises of (1) 600 real-world sequences recorded with a high-resolution mobile phone camera, (2) a fixed train-test split which ensures consistent evaluation, and (3) a baseline method which achieves high accuracy in the new benchmark and the dataset used in previous works. Results for more than 20 well-known color constancy methods including the recent state-of-the-arts are reported in our experiments.
Related paper: A Benchmark for Temporal Color Constancy
Yanlin Qian, Jani Käpylä, Joni-Kristian Kämäräinen, Samu Koskinen, Jiri Matas (ArXiv, 2020)
The benchmark dataset comprises 600 real-world sequences recorded with a high-resolution mobile phone camera and a fixed train-test split which ensures consistent evaluation. Results for more than 20 well-known color constancy methods including the recent state-of-the-arts are reported in the related paper.


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I started my IT career in 2001, my first experience has been the development of enterprise java applications, then I worked on design of software architecture and on requirements analysis.
In the past years i also worked as senior open source middleware administrator (apache, jboss, mysql, postgresql, pentaho, alfresco, ... ) lead a Open Source Competence Center in a big national company.
During the last years I work as Fullstack Tecnical Leader and as a Technical Project Manager.
My strengths are a methodological approach to problem solving, flexibility, adaptability, passion for IT.
My driving good intention is to keep learning, experimenting, challenging myself and live new experiences.
I am working to develop new competences, to build a career I can be proud of.
Fullstack Tecnical Leader / Technical Project Manager. I was responsible for design and lead the implementation phase of enterprise multichannel applications (fullstack).
Open Source middleware administrator, I have been involved in the solution design, implementation and management of enterprise architectures based on open source software
I was responsible for design and implementation of enterprise Java applications, as a senior developer / team leader.
I was responsible for software development of enterprise Java applications, as a senior developer / team leader.
I was responsible for software development of enterprise Java applications, as a j2ee developer / analyst.
Computer Science High School
FCA - DCube Jan 2018 – Present
Tech Leader / PM. An application to allow geotracking of cars
during test drives. It consists of a java application that allows
route tracking through a web console (based on google map)
and an MQTT server (mosquitto) for saving instantaneous
positions / speeds during the tests.
Technologies :Tomcat 8, Angular, Spring MVC, MySql, MyBatis, Mosquitto, Google Maps API, Maven.
Percassi - Apigateway Jan 2018 – Present
Tech Leader / PM. Design and technical solution for the implementation of an Apigateway used as an entry point for the mobile/web channel for a multinational in the field of ecommerce (cosmetics).
My responsibility was to design the technical solution and to direct the implementation team as a technical leader.
Technologies : Spring Boot, Hibernate, MySQL, Docker.
FCA - PriceWatch Jun 2017 – Present
Tech Leader / PM. Analysis and development of a server-side java application, able to manage the subscription and sending of heterogeneous notifications to end users of the portals of FCA dealers, powered by a scheduled batch that downloads the updated data from the individual portals. Development of functions for data analysis and REST APIs that communicate with an installation of GAIA Reply Notification Gateway which takes care of sending active notifications to end users. Development of a JavaScript library implemented by the individual portals for managing subscriptions to the notification service that supports the main operating systems and browsers.
Development of a web console for subscription management, generation of statistics and timely submission of web notifications using Angular4.
Technologies: Java, Angular4, Spring Batch, Spring Boot, Spring Security, MySQL, MyBatis, JavaScript, Firebase Cloud Messaging, Apple Push Notification.
Percassi - "In store" loyalty card app Jun 2017 – Present
I have worked as Full Stack Technical Leader for the design and implementation of an application for the management of loyalty cards, used for different stores of the Percassi Group. It is a responsive application based on Angular 6 + Boostrap as FrontEnd and Spring Boot / Mysql as Backend, integrated with the centralized Apogeo CAS authentication service.
Technologies : Spring Boot, MySql, Hibernate, Angular 6, Boostrap.
Allianz Bank - MyAllianzBank+ May 2016 – May 2016
Back-End developed to support an iOS client used by Private Bankers through the private net of Allianz Bank.The server is developed using Spring, cxf and Hibernate.The main purpose is to integrate different systems in order to give to the app a proper set of data exposed in the form of a web API.
Technologies : jBoss 6, Spring MVC, Jersey, Oracle DBMS.
Banca Fideuram - Modulo Tutela May 2016 – May 2016
Development of a GWT based web application (client and server side) that is integrated inside the SEI portal owned by Fideuram Bank.The Application show a bank report for a selected customer and suggests bank insurances aiming to prevent lack of incoming in chance of unfortunated events in the future.After a full review of all possible actions , a report suggesting the best way of action is available for download.
Technologies : jBoss 6,GWT,Spring,Jersey,HighCharts,SqlServer.
Banca Fideuram - Next May 2016 – May 2016
Development of a REST API that provides data for a mobile application (iOS).
The API is meant to be a communication channel between the app and two different systems that share the same data.
As the app is able to work offline, the API implements a synchronization and export protocol, giving to the final user control over the state of the data among the systems.
The backend communicates with the other systems by Axis client (consuming SOAP web services).
Technologies : jBoss 6, GWT, Spring, Jersey, HighCharts, SqlServer.
Percassi - SSO Jun 2014 – Jun 2014
This is an SSO system based on Apogeo CAS customization, it integrates a social network login through the external service Gigya. Focus point of this architecture it's the performance of the solution that involves about 3M potential users. I work as a tecnical team leader.
Technologies : Apogeo CAS, Tomcat 8, Spring MVC, MySql, Spring Batch Maven.
GeDoc DGIAI - Portale Gedoc Invitalia/Mise Apr 2013 – Apr 2013
In this project a platform for the management of documents from the Ministry of Economic Development ( MISE ) has been developed.
The platform is based on Alfresco as document repository. The web interface is based on Spring MVC for the Back end and Javascript/JQuery for the Front end.
Many custom services has been developed in Alfresco, as webscript, to manipulate the documents in an uncommon way.
Technologies : Tomcat 8, Spring MVC, MySql, Alfresco ECM.
CCOS - Competence Center Open Source 2012 – 2012
I worked as an expert in open source technology, my task was to carry out
architectural consultancy in open sorce (especially middleware [jboss, MySQL,
Pentaho, Apache Http]), write guidelines for implementation of open source
solutions and lead the phases of installation, configuration and exercise support
of middleware components.
Technologies: JBoss EAP, JBoss EPP, JBoss SOA, MySQL, Postgres, Apache WS, Pentaho BI, Alfresco ECM
CPC - Check Point Charlie 2012 – 2012
Design, implementation, operational management of an application for Lifecycle management of internal requests related to IT department, based on a customization of Alfresco ECM.
Technologies: Alfresco ECM, Redhat Linux, JQuery, MySQL.
Tim VAS (PEP) 2008 – 2008
Analysis activities, design and software development within the project PEP-C
(Provisioning Enabling Platform Convergent) for the management of Telecom
Italia Value Added Services.
Technologies: Adobe Flex 3, EJB 2.1, Spring, bash scripting, Oracle DBMS, BEA WebLogic
Passaporto Elettronico (Italian Electronic Passport) 2007 – 2007
I have been involved in the analysis and implementation of software that
performs the management of the lifecycle of the electronic passport to the
Italian Government.
Technologies: Oracle 10g, Bea Weblogic 8.1, EJB
Antifrode Impresa 2005 – 2005
I work in a team as Analyst/j2ee Developer for relase of an enterprise application for an european assurance.
Technologies: IBM Webshere, IBM DB2.