Classes | |
| class | CBPositionAnalysisData |
| class | CBRunAnalysisData |
| class | CounterbalanceAnalysisData |
| class | CounterbalanceAnalysisParams |
| Stores parameters from CB analysis test. More... | |
| class | CounterbalanceAnalysisResult |
| class | JointPositionAnalysisData |
Functions | |
| def | _get_const_flex_effort |
| Returns a list of lift positions, efforts for a given flex position (vary by lift). | |
| def | _get_const_lift_effort |
| def | _get_flex_positions |
| def | _get_lift_positions |
| def | _get_mean_abs_effort |
| def | _get_mean_effort |
| def | _get_mean_sq_effort |
| def | analyze_flex_efforts |
| Checks shoulder flex efforts against params. | |
| def | analyze_lift_efforts |
| Checks shoulder lift efforts against params. | |
| def | calc_cb_adjust |
| Calculates CB adjustment. | |
| def | check_cb_adjustment |
| Return CB adjustments to minimize total torque. | |
| def | get_efforts |
| Get average efforts for CB test as a list. | |
| def | plot_effort_contour |
| Gives effort contour plot of efforts by lift, flex position. | |
| def | plot_efforts_by_lift_position |
| Plots CB efforts against shoulder lift position. | |
Variables | |
| dictionary | ok_dict = { False: 'FAIL', True: 'OK' } |
| string | PKG = 'pr2_counterbalance_check' |
| Analyzes counterbalance data. | |
| def pr2_counterbalance_check::counterbalance_analysis::_get_const_flex_effort | ( | data, | ||
flex_index = 0, |
||||
lift_calc = True | ||||
| ) | [private] |
Returns a list of lift positions, efforts for a given flex position (vary by lift).
Definition at line 212 of file counterbalance_analysis.py.
| def pr2_counterbalance_check::counterbalance_analysis::_get_const_lift_effort | ( | data, | ||
lift_index = 0, |
||||
lift_calc = True | ||||
| ) | [private] |
Definition at line 225 of file counterbalance_analysis.py.
| def pr2_counterbalance_check::counterbalance_analysis::_get_flex_positions | ( | data | ) | [private] |
Definition at line 242 of file counterbalance_analysis.py.
| def pr2_counterbalance_check::counterbalance_analysis::_get_lift_positions | ( | data | ) | [private] |
Definition at line 249 of file counterbalance_analysis.py.
| def pr2_counterbalance_check::counterbalance_analysis::_get_mean_abs_effort | ( | avg_effort_array | ) | [private] |
Definition at line 204 of file counterbalance_analysis.py.
| def pr2_counterbalance_check::counterbalance_analysis::_get_mean_effort | ( | avg_effort_array | ) | [private] |
Definition at line 208 of file counterbalance_analysis.py.
| def pr2_counterbalance_check::counterbalance_analysis::_get_mean_sq_effort | ( | avg_effort_array | ) | [private] |
Definition at line 200 of file counterbalance_analysis.py.
| def pr2_counterbalance_check::counterbalance_analysis::analyze_flex_efforts | ( | params, | ||
| data | ||||
| ) |
Checks shoulder flex efforts against params.
Definition at line 372 of file counterbalance_analysis.py.
| def pr2_counterbalance_check::counterbalance_analysis::analyze_lift_efforts | ( | params, | ||
| data | ||||
| ) |
Checks shoulder lift efforts against params.
Definition at line 330 of file counterbalance_analysis.py.
| def pr2_counterbalance_check::counterbalance_analysis::calc_cb_adjust | ( | data, | ||
| model_file | ||||
| ) |
Calculates CB adjustment.
Definition at line 412 of file counterbalance_analysis.py.
| def pr2_counterbalance_check::counterbalance_analysis::check_cb_adjustment | ( | params, | ||
| data, | ||||
| model_file | ||||
| ) |
Return CB adjustments to minimize total torque.
Uses CB adjustment/torque value from the model file. Model file is generated by 'test_pr2_self_test/counterbalance_training.py'
| params | CounterbalanceAnalysisParams | |
| data | CounterbalanceAnalysisData | |
| str | : Filename of model file |
Definition at line 440 of file counterbalance_analysis.py.
| def pr2_counterbalance_check::counterbalance_analysis::get_efforts | ( | data, | ||
| lift_calc | ||||
| ) |
Get average efforts for CB test as a list.
| lift_calc | bool : Lift or flex efforts |
Definition at line 189 of file counterbalance_analysis.py.
| def pr2_counterbalance_check::counterbalance_analysis::plot_effort_contour | ( | params, | ||
| data, | ||||
lift_calc = True | ||||
| ) |
Gives effort contour plot of efforts by lift, flex position.
| params | CounterbalanceAnalysisParams : Input params | |
| data | CounterbalanceAnalysisData : Test Data |
Definition at line 261 of file counterbalance_analysis.py.
| def pr2_counterbalance_check::counterbalance_analysis::plot_efforts_by_lift_position | ( | params, | ||
| data, | ||||
flex_index = -1, |
||||
lift_calc = True | ||||
| ) |
Plots CB efforts against shoulder lift position.
| flex_index | int : Index of flex data to plot against | |
| lift_calc | bool : Lift efforts or flex efforts |
Definition at line 297 of file counterbalance_analysis.py.
| dictionary pr2_counterbalance_check::counterbalance_analysis::ok_dict = { False: 'FAIL', True: 'OK' } |
Definition at line 53 of file counterbalance_analysis.py.
| string pr2_counterbalance_check::counterbalance_analysis::PKG = 'pr2_counterbalance_check' |
Analyzes counterbalance data.
Definition at line 38 of file counterbalance_analysis.py.
