a specific form of compliant motion. class name might be inappropriate.
Definition at line 82 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.__init__ | ( | self, | |
move_segway = False , |
|||
use_right_arm = True , |
|||
use_left_arm = True , |
|||
set_wrist_theta_gc = False , |
|||
end_effector_length = 0.12818 |
|||
) |
move_segway | - if True then move the segway while pulling. |
Definition at line 89 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.common_stopping_conditions | ( | self | ) |
Definition at line 356 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.compliant_motion | ( | self, | |
equi_pt_generator, | |||
time_step, | |||
arm, | |||
arg_list, | |||
record = False , |
|||
rapid_call_func = None |
|||
) |
equi_pt_generator,: | function that returns stop, q where q: list of 7 joint angles and 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 string which is '' for compliant motion to continue |
time_step,: | time between successive calls to equi_pt_generator |
arg_list | - list of arguments to be passed to the equi_pt_generator |
Definition at line 256 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.equi_generator_surface_follow | ( | self, | |
arm, | |||
move_dir, | |||
rot_mat, | |||
force_threshold | |||
) |
move along a vertical surface while maintaining a small for on it.
NOTE: stopping conditions assume we are trying to hook onto a handle.
arm | - 'left_arm' or 'right_arm' |
move_dir | - direction along which the end effector moves. (3x1 np matrix in tl frame) |
rot_mat | - matrix that defines the end effector orientation. It transforms points in torso frame to end effector frame. |
Definition at line 797 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.equi_pt_generator_control_radial_force | ( | self, | |
arm, | |||
rot_mat, | |||
h_force_possible, | |||
v_force_possible, | |||
cep_vel | |||
) |
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.
h_force_possible | - True (hook side) or False (hook up). |
v_force_possible | - False (hook side) or True (hook up). Is maintaining a radial force possible or not (based on hook geometry and orientation) |
cep_vel | - tangential velocity of the cep in m/s |
Definition at line 553 of file compliant_trajectories.py.
def 2010_icra_epc_pull.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 1007 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.log_state | ( | self, | |
arm | |||
) |
log the joint angles, equi pt joint angles and forces.
Definition at line 316 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.mechanism_kinematics_rot_cb | ( | self, | |
mk | |||
) |
Definition at line 455 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.movement_posture | ( | self | ) |
Definition at line 163 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.pull | ( | self, | |
arm, | |||
hook_angle, | |||
surface_angle, | |||
force_threshold, | |||
jep, | |||
use_utm = False , |
|||
use_camera = False , |
|||
strategy = 'line_neg_x' , |
|||
info_string = '' , |
|||
cep_vel = 0.1 , |
|||
kinematics_estimation = 'rotation_center' , |
|||
pull_left = False |
|||
) |
assumes: 1) already hooked onto mechanism.
arm | - 'left_arm' or 'right_arm' |
hook_angle | - RADIANS(0, -90, 90) (hor, up, down) |
surface_angle | - see rot_mat_from_angles |
force_threshold | - max force at which to stop pulling. |
jep | - last commanded JEP. |
use_utm | - to take 3D scans or not. |
use_camera | - to take pictures from the camera or not. |
strategy | - 'line_neg_x': move CEP along -x axis. 'control_radial_force': try and keep the radial force constant |
info_string | - string saved with key 'info' in the pkl. |
cep_vel | - tangential velocity of the cep in m/s |
kinematics_estimation | - 'rotation_center' or 'jacobian' |
pull_left | - UBER ADHOC. trying to specify initial motion direction (Advait, Feb 28. 2:50am) |
Definition at line 836 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.reposition_robot | ( | self, | |
hook_location, | |||
turn_angle, | |||
hook_angle, | |||
position_number = 2 |
|||
) |
move the robot so that hooking location is at a better position relative to the robot.
hook_location | - 3x1 np matrix (in torso coord frame) |
turn_angle | - angle (in RADIANS) through which the segway should rotate. |
hook_angle | - angle of the hook. (to determine good height) |
Definition at line 183 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.save_frame | ( | self | ) |
Definition at line 1003 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.scan_3d | ( | self | ) |
Definition at line 998 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.search_and_hook | ( | self, | |
arm, | |||
hook_angle, | |||
hook_loc, | |||
angle, | |||
hooking_force_threshold = 5. |
|||
) |
behavior to search around the hook_loc to try and get a good hooking grasp
arm | - 'right_arm' or 'left_arm' |
hook_angle | - radians(0,-90,90) side,up,down |
hook_loc | - 3x1 np matrix |
angle | - angle between torso x axis and surface normal. |
Definition at line 753 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.segway_motion_local | ( | self, | |
curr_pos_tl, | |||
sa | |||
) |
Definition at line 464 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.segway_mover | ( | self | ) |
Definition at line 428 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.set_camera_settings | ( | self | ) |
Definition at line 243 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.stop | ( | self | ) |
Definition at line 168 of file compliant_trajectories.py.
def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.update_eq_point | ( | self, | |
arm, | |||
motion_vec, | |||
step_size, | |||
rot_mat | |||
) |
arm | - 'right_arm' or 'left_arm' |
motion | vec is in tl frame. |
step_size | - distance (meters) through which CEP should move |
rot_mat | - rotation matrix for IK |
Definition at line 401 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::bndry |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::cam |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::cartesian_pts_list |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::constraint_vec_1_ts |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::constraint_vec_2_ts |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::cx_start |
Definition at line 455 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::cy_start |
Definition at line 455 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::cz_start |
Definition at line 455 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::dist_boundary |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::eq_force_threshold |
Definition at line 557 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::eq_motion_vec |
Definition at line 464 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::eq_pt_cartesian |
Definition at line 401 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::eq_pt_cartesian_ts |
Definition at line 401 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::eq_pt_close_to_bndry |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::eq_pt_not_moving_counter |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::eq_pt_trajectory |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::f_rad_list |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::f_tan_list |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::firenze |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::fit_circle_lock |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::force_trajectory |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::ftan_threshold |
Definition at line 557 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::hok |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::hooked_location_moved |
Definition at line 557 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::init_tangent_vector |
Definition at line 553 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::jt_torque_trajectory |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::mech_kinematics_lock |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::mech_time_list |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::mech_traj_pub |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::mech_x_list |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::move_segway_flag |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::move_segway_lock |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::new_segway_command |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::open_ang_exceed_count |
Definition at line 557 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::prev_force_mag |
Definition at line 553 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::pull_trajectory |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::q_guess |
Definition at line 356 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::rad |
Definition at line 455 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::rad_vec_list |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::run_fit_circle_thread |
Definition at line 168 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::run_move_segway_thread |
Definition at line 168 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::segway_command_node |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::segway_motion_tup |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::segway_pose |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::segway_trajectory |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::slip_count |
Definition at line 356 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::start_pos |
Definition at line 753 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::tan_vec_list |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::tangential_vec_ts |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::thok |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::torque_trajectory |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::use_jacobian |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::use_rotation_center |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::vec_bndry |
Definition at line 464 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::wkd |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::workspace_dict |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::wrkspc_pts |
Definition at line 836 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::z |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::zenither_client |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::zenither_list |
Definition at line 89 of file compliant_trajectories.py.
2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::zenither_moving |
Definition at line 89 of file compliant_trajectories.py.