Public Member Functions
def	__init__
def	circle_estimator
def	common_stopping_conditions
def	compliant_motion
def	equi_pt_generator_control_radial_force
	constantly update the estimate of the kinematics and move the equilibrium point along the tangent of the estimated arc, and try to keep the radial force constant.
def	equi_pt_generator_line
	moves eq point along the -x axis.
def	get_firm_hook
	move the end effector to properly hook onto the world direction of motion governed by the hook angle.
def	image_region
def	log_state
	log the joint angles, equi pt joint angles and forces.
def	pose_arm
	pose the arm by moving the end effector to the hookable location.
def	pull
def	run
def	save_frame
def	scan_3d
def	set_camera_settings
def	stop
def	update_eq_point
Public Attributes
	cam
	cartesian_pts_list
	cx
	cy
	eq_force_threshold
	eq_IK_rot_mat
	eq_motion_vec
	eq_pt_cartesian
	eq_pt_trajectory
	firenze
	fit_circle_lock
	force_trajectory
	hok
	hook_maintain_dist_plane
	hooked_location_moved
	jt_torque_trajectory
	keep_hook_vec
	piecewise_force_threshold
	prev_force_mag
	pull_trajectory
	q_guess
	rad_guess
	run_fit_circle_thread
	settings_r
	settings_stiff
	slip_count
	thok

Detailed Description

a specific form of compliant motion.
    class name might be inappropriate.

Definition at line 54 of file compliant_trajectories.py.

Constructor & Destructor Documentation

def compliant_trajectories.CompliantMotionGenerator.__init__ ( self )

Definition at line 58 of file compliant_trajectories.py.

Member Function Documentation

def compliant_trajectories.CompliantMotionGenerator.circle_estimator ( self )

Definition at line 215 of file compliant_trajectories.py.

def compliant_trajectories.CompliantMotionGenerator.common_stopping_conditions ( self )

Definition at line 179 of file compliant_trajectories.py.

def compliant_trajectories.CompliantMotionGenerator.compliant_motion	(	self,
		equi_pt_generator,
		time_step,
		rapid_call_func = `None`
	)

equi_pt_generator: function that returns stop,q
                 q: list of 7 joint angles
                 stop: string which is '' for compliant motion to continue
    rapid_call_func: called in the time between calls to the equi_pt_generator
             can be used for logging, safety etc.
             returns stop
                 stop: string which is '' for compliant motion to continue
    time_step: time between successive calls to equi_pt_generator

    returns stop (the string which has the reason why the compliant motion stopped.)

Definition at line 126 of file compliant_trajectories.py.

def compliant_trajectories.CompliantMotionGenerator.equi_pt_generator_control_radial_force ( self )

constantly update the estimate of the kinematics and move the equilibrium point along the tangent of the estimated arc, and try to keep the radial force constant.

Definition at line 244 of file compliant_trajectories.py.

def compliant_trajectories.CompliantMotionGenerator.equi_pt_generator_line ( self )

moves eq point along the -x axis.

Definition at line 287 of file compliant_trajectories.py.

def compliant_trajectories.CompliantMotionGenerator.get_firm_hook	(	self,
		hook_angle
	)

move the end effector to properly hook onto the world direction of motion governed by the hook angle.

Parameters:

hook_angle - angle of hook in RADIANS (see pose_arm or pull for details.)

Definition at line 309 of file compliant_trajectories.py.

def compliant_trajectories.CompliantMotionGenerator.image_region ( self )

takes images from the UTM camera at different angles.
    returns list of servo angles, list of images.
    images are numpy images. so that they can be pickled.

Definition at line 457 of file compliant_trajectories.py.

def compliant_trajectories.CompliantMotionGenerator.log_state ( self )

log the joint angles, equi pt joint angles and forces.

Definition at line 158 of file compliant_trajectories.py.

def compliant_trajectories.CompliantMotionGenerator.pose_arm	(	self,
		hook_angle
	)

pose the arm by moving the end effector to the hookable location.

Parameters:

hook_angle - RADIANS(0, -90, 90 etc.) 0 - horizontal, -pi/2 hook points up, +pi/2 hook points down

Definition at line 85 of file compliant_trajectories.py.

def compliant_trajectories.CompliantMotionGenerator.pull	(	self,
		hook_angle,
		force_threshold,
		use_utm = `False`,
		use_camera = `False`,
		strategy = `'line_neg_x'`,
		pull_loc = `None`,
		info_string = `''`
	)

force_threshold - max force at which to stop pulling.
    hook_angle - radians(0, -90, 90 etc.)
         0 - horizontal, -pi/2 hook points up, +pi/2 hook points down
    use_utm - to take 3D scans or not.
    use_camera - to take pictures from the camera or not.
    strategy - 'line_neg_x': move eq point along -x axis.
       'piecewise_linear': try and estimate circle and move along it.
       'control_radial_force': try and keep the radial force constant
       'control_radial_dist'
    pull_loc - 3x1 np matrix of location for pulling. If None then arm will go into
       gravity comp and user can show the location.
    info_string - string saved with key 'info' in the pkl.

Definition at line 324 of file compliant_trajectories.py.

def compliant_trajectories.CompliantMotionGenerator.run ( self )

Definition at line 75 of file compliant_trajectories.py.

def compliant_trajectories.CompliantMotionGenerator.save_frame ( self )

Definition at line 453 of file compliant_trajectories.py.

def compliant_trajectories.CompliantMotionGenerator.scan_3d ( self )

Definition at line 448 of file compliant_trajectories.py.

def compliant_trajectories.CompliantMotionGenerator.set_camera_settings ( self )

Definition at line 120 of file compliant_trajectories.py.

def compliant_trajectories.CompliantMotionGenerator.stop ( self )

Definition at line 78 of file compliant_trajectories.py.