Classes | |
class | CartesianTajectory |
class | ForceTrajectory |
class | JointTrajectory |
class | PlanarTrajectory |
class to store trajectory of a coord frame executing planar motion (x,y,a) data only - use for pickling More... | |
Functions | |
def | account_segway_motion |
changes the cartesian trajectory to put everything in the same frame. | |
def | account_zenithering |
def | compute_radial_tangential_forces |
return two lists containing the radial and tangential components of the forces. | |
def | filter_cartesian_trajectory |
remove the initial part of the trjectory in which the hook is not moving. | |
def | filter_trajectory_force |
remove the last part of the trjectory in which the hook might have slipped off | |
def | fit_circle |
find the x and y coord of the center of the circle and the radius that best matches the data. | |
def | fit_circle_priors |
def | joint_to_cartesian |
def | plot_cartesian |
def | plot_forces_quiver |
Variables | |
tuple | actual_cartesian |
tuple | actual_cartesian_tl = joint_to_cartesian(d['actual'], d['arm']) |
string | addon = '' |
float | alpha = 0.7 |
string | axis = 'equal' |
tuple | c_ts = np.matrix([cx, cy, 0.]) |
tuple | cep_2d = np.matrix(cep_force_clean.p_list) |
list | cep_2d_s = cep_2d[:,::subsample_ratio] |
list | cep_2d_zoom = cep_2d[:,:zoom_location] |
list | cep_text = cep_2d_zoom[:,-1] |
color = wrist_color) | |
tuple | curr_size = f.get_size_inches() |
list | current_pos = pts_2d_zoom[:,-1] |
tuple | d = ut.load_pickle(fname) |
string | dest = 'icra_presentation_plot' |
list | ee_start_pos = pts_list[0] |
tuple | end_angle |
list | end_pt = pts_2d[:,-1] |
tuple | eq_cartesian = account_zenithering(eq_cartesian, d['zenither_list']) |
tuple | eq_cartesian_tl = joint_to_cartesian(d['eq_pt'], d['arm']) |
eq_pts_list = eq_cartesian.p_list | |
expt_plot = opt.exptplot | |
tuple | f = pl.gcf() |
string | fig_name = 'epc' |
int | fig_number = 1 |
fname = opt.fname | |
int | fontsize = 25 |
list | force_list = d['force'] |
tuple | frad = (wrist_force[0:2,:].T * radial_vec) |
tuple | frad_text = rad_text_loc+np.matrix([0.,0.015]) |
string | help = 'pkl file to use.' |
tuple | hook_force_motion = -(frad - 5) |
list | hw_text = cep_2d_zoom[:,-1] |
int | i = 0 |
string | interval = 'r' |
string | label = 'Actual\_opt' |
float | marker_edge_width = 1.5 |
string | method = 'fmin_bfgs' |
list | mw_text = cep_2d_zoom[:,-1] |
list | new_cep = cep_2d_zoom[:,-1] |
tuple | p = optparse.OptionParser() |
p_list = actual_cartesian.p_list | |
plot_ellipses_flag = opt.plot_ellipses | |
plot_ellipses_vary_flag = opt.pev | |
plot_force_components_flag = opt.pfc | |
plot_force_field_flag = opt.pff | |
plot_forces_error_flag = opt.plot_forces_error | |
plot_forces_flag = opt.plot_forces | |
list | pts_2d_s = pts_2d[:,::subsample_ratio] |
list | pts_2d_zoom = pts_2d[:,:zoom_location] |
pts_list = actual_cartesian.p_list | |
rad = opt.rad | |
rad_guess = rad | |
list | rad_text_loc = pts_2d_zoom[:,-1] |
tuple | radial_vec = current_pos-np.matrix([cx,cy]) |
list | ratio_list1 = [0.1,0.3,0.5,0.7,0.9] |
list | ratio_list2 = [0.1,0.3,0.5,0.7,0.9] |
list | ratio_list3 = [0.1,0.3,0.5,0.7,0.9] |
string | s = '$h[t]$' |
float | s0 = 0.2 |
list | s_list = [s0,s1,s2,s3,0.8] |
int | scatter_size = 7 |
tuple | show_fig = not(opt.noshow) |
list | st_pt = pts_2d[:,0] |
tuple | start_angle |
tuple | str_parts = fname.split('.') |
tuple | sturm_file = open(sturm_file_name,'w') |
list | sturm_file_name = str_parts[0] |
sturm_output = opt.sturm | |
sturm_pts = cartesian_force_clean.p_list | |
int | subplotnum = 234 |
int | subsample_ratio = 1 |
list | tan_text_loc = pts_2d_zoom[:,-1] |
float | tangential_motion = 0.01 |
tuple | tangential_vec = np.matrix([[0,-1],[1,0]]) |
list | time_list = d['force'] |
total_cep_motion = hook_force_motion+tangential_motion | |
tuple | wf_text = rad_text_loc+np.matrix([-0.06,0.015]) |
string | wrist_color = '#A0A000' |
tuple | wrist_force = -np.matrix(force_new.f_list[zoom_location]) |
tuple | x_coord_list = np.matrix(p_list) |
list | x_guess = ee_start_pos[0] |
xy_flag = opt.xy | |
xyz_flag = opt.xyz | |
xz_flag = opt.xz | |
list | y_guess = ee_start_pos[1] |
yz_flag = opt.yz | |
int | zoom_location = 10 |
def doors_forces_kinematics.arm_trajectories.account_segway_motion | ( | cart_traj, | |
force_traj, | |||
st | |||
) |
changes the cartesian trajectory to put everything in the same frame.
NOTE - velocity transformation does not work if the segway is also moving. This is because I am not logging the velocity of the segway.
pts | - CartesianTajectory |
st | - object of type PlanarTrajectory (segway trajectory) |
Definition at line 292 of file arm_trajectories.py.
def doors_forces_kinematics.arm_trajectories.account_zenithering | ( | cart_traj, | |
z_l | |||
) |
Definition at line 323 of file arm_trajectories.py.
def doors_forces_kinematics.arm_trajectories.compute_radial_tangential_forces | ( | f_list, | |
p_list, | |||
cx, | |||
cy | |||
) |
return two lists containing the radial and tangential components of the forces.
f_list | - list of forces. (each force is a list of 2 or 3 floats) |
p_list | - list of positions. (each position is a list of 2 or 3 floats) |
cx | - x coord of the center of the circle. |
cy | - y coord of the center of the circle. |
Definition at line 168 of file arm_trajectories.py.
remove the initial part of the trjectory in which the hook is not moving.
ct | - cartesian trajectory of the end effector in the world frame. |
Definition at line 345 of file arm_trajectories.py.
remove the last part of the trjectory in which the hook might have slipped off
ct | - cartesian trajectory of the end effector in the world frame. |
ft | - force trajectory |
Definition at line 368 of file arm_trajectories.py.
def doors_forces_kinematics.arm_trajectories.fit_circle | ( | rad_guess, | |
x_guess, | |||
y_guess, | |||
pts, | |||
method, | |||
verbose = True , |
|||
rad_fix = False |
|||
) |
find the x and y coord of the center of the circle and the radius that best matches the data.
rad_guess | - guess for the radius of the circle |
x_guess | - guess for x coord of center |
y_guess | - guess for y coord of center. |
pts | - 2xN np matrix of points. |
method | - optimization method. ('fmin' or 'fmin_bfgs') |
verbose | - passed onto the scipy optimize functions. whether to print out the convergence info. |
Definition at line 233 of file arm_trajectories.py.
def doors_forces_kinematics.arm_trajectories.fit_circle_priors | ( | rad_guess, | |
x_guess, | |||
y_guess, | |||
pts, | |||
sigma_r, | |||
sigma_xy, | |||
sigma_pts, | |||
verbose = True |
|||
) |
Definition at line 191 of file arm_trajectories.py.
def doors_forces_kinematics.arm_trajectories.joint_to_cartesian | ( | traj, | |
arm | |||
) |
traj | - JointTrajectory |
Definition at line 67 of file arm_trajectories.py.
def doors_forces_kinematics.arm_trajectories.plot_cartesian | ( | traj, | |
xaxis = None , |
|||
yaxis = None , |
|||
zaxis = None , |
|||
color = 'b' , |
|||
label = '_nolegend_' , |
|||
linewidth = 2 , |
|||
scatter_size = 10 , |
|||
plot_velocity = False |
|||
) |
xaxis | - x axis for the graph (0,1 or 2) |
zaxis | - for a 3d plot. not implemented. |
Definition at line 111 of file arm_trajectories.py.
def doors_forces_kinematics.arm_trajectories.plot_forces_quiver | ( | pos_traj, | |
force_traj, | |||
color = 'k' |
|||
) |
Definition at line 90 of file arm_trajectories.py.
00001 account_zenithering(actual_cartesian, 00002 d['zenither_list'])
Definition at line 509 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::actual_cartesian_tl = joint_to_cartesian(d['actual'], d['arm']) |
Definition at line 506 of file arm_trajectories.py.
string doors_forces_kinematics::arm_trajectories::addon = '' |
Definition at line 843 of file arm_trajectories.py.
float doors_forces_kinematics::arm_trajectories::alpha = 0.7 |
Definition at line 600 of file arm_trajectories.py.
string doors_forces_kinematics::arm_trajectories::axis = 'equal' |
Definition at line 755 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::c_ts = np.matrix([cx, cy, 0.]) |
Definition at line 553 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::cep_2d = np.matrix(cep_force_clean.p_list) |
Definition at line 583 of file arm_trajectories.py.
Definition at line 592 of file arm_trajectories.py.
Definition at line 614 of file arm_trajectories.py.
Definition at line 744 of file arm_trajectories.py.
Definition at line 693 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::curr_size = f.get_size_inches() |
Definition at line 854 of file arm_trajectories.py.
Definition at line 666 of file arm_trajectories.py.
Definition at line 505 of file arm_trajectories.py.
string doors_forces_kinematics::arm_trajectories::dest = 'icra_presentation_plot' |
Definition at line 440 of file arm_trajectories.py.
Definition at line 527 of file arm_trajectories.py.
00001 tr.angle_within_mod180(math.atan2(pts_2d[1,-1]-cy, 00002 pts_2d[0,-1]-cx) - math.pi/2)
Definition at line 556 of file arm_trajectories.py.
list doors_forces_kinematics::arm_trajectories::end_pt = pts_2d[:,-1] |
Definition at line 768 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::eq_cartesian = account_zenithering(eq_cartesian, d['zenither_list']) |
Definition at line 515 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::eq_cartesian_tl = joint_to_cartesian(d['eq_pt'], d['arm']) |
Definition at line 512 of file arm_trajectories.py.
doors_forces_kinematics::arm_trajectories::eq_pts_list = eq_cartesian.p_list |
Definition at line 526 of file arm_trajectories.py.
doors_forces_kinematics::arm_trajectories::expt_plot = opt.exptplot |
Definition at line 457 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::f = pl.gcf() |
Definition at line 853 of file arm_trajectories.py.
Definition at line 605 of file arm_trajectories.py.
Definition at line 606 of file arm_trajectories.py.
Definition at line 444 of file arm_trajectories.py.
Definition at line 697 of file arm_trajectories.py.
Definition at line 531 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::frad = (wrist_force[0:2,:].T * radial_vec) |
Definition at line 689 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::frad_text = rad_text_loc+np.matrix([0.,0.015]) |
Definition at line 703 of file arm_trajectories.py.
string doors_forces_kinematics::arm_trajectories::help = 'pkl file to use.' |
Definition at line 410 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::hook_force_motion = -(frad - 5) |
Definition at line 713 of file arm_trajectories.py.
Definition at line 720 of file arm_trajectories.py.
Definition at line 463 of file arm_trajectories.py.
Definition at line 602 of file arm_trajectories.py.
string doors_forces_kinematics::arm_trajectories::label = 'Actual\_opt' |
Definition at line 559 of file arm_trajectories.py.
Definition at line 590 of file arm_trajectories.py.
string doors_forces_kinematics::arm_trajectories::method = 'fmin_bfgs' |
Definition at line 551 of file arm_trajectories.py.
Definition at line 732 of file arm_trajectories.py.
Definition at line 753 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::p = optparse.OptionParser() |
Definition at line 408 of file arm_trajectories.py.
doors_forces_kinematics::arm_trajectories::p_list = actual_cartesian.p_list |
Definition at line 810 of file arm_trajectories.py.
doors_forces_kinematics::arm_trajectories::plot_ellipses_flag = opt.plot_ellipses |
Definition at line 449 of file arm_trajectories.py.
Definition at line 456 of file arm_trajectories.py.
Definition at line 451 of file arm_trajectories.py.
Definition at line 452 of file arm_trajectories.py.
doors_forces_kinematics::arm_trajectories::plot_forces_error_flag = opt.plot_forces_error |
Definition at line 450 of file arm_trajectories.py.
doors_forces_kinematics::arm_trajectories::plot_forces_flag = opt.plot_forces |
Definition at line 448 of file arm_trajectories.py.
Definition at line 579 of file arm_trajectories.py.
Definition at line 613 of file arm_trajectories.py.
doors_forces_kinematics::arm_trajectories::pts_list = actual_cartesian.p_list |
Definition at line 525 of file arm_trajectories.py.
Definition at line 454 of file arm_trajectories.py.
Definition at line 549 of file arm_trajectories.py.
Definition at line 673 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::radial_vec = current_pos-np.matrix([cx,cy]) |
Definition at line 667 of file arm_trajectories.py.
list doors_forces_kinematics::arm_trajectories::ratio_list1 = [0.1,0.3,0.5,0.7,0.9] |
Definition at line 464 of file arm_trajectories.py.
list doors_forces_kinematics::arm_trajectories::ratio_list2 = [0.1,0.3,0.5,0.7,0.9] |
Definition at line 465 of file arm_trajectories.py.
list doors_forces_kinematics::arm_trajectories::ratio_list3 = [0.1,0.3,0.5,0.7,0.9] |
Definition at line 466 of file arm_trajectories.py.
string doors_forces_kinematics::arm_trajectories::s = '$h[t]$' |
Definition at line 722 of file arm_trajectories.py.
float doors_forces_kinematics::arm_trajectories::s0 = 0.2 |
Definition at line 476 of file arm_trajectories.py.
list doors_forces_kinematics::arm_trajectories::s_list = [s0,s1,s2,s3,0.8] |
Definition at line 482 of file arm_trajectories.py.
Definition at line 589 of file arm_trajectories.py.
doors_forces_kinematics::arm_trajectories::show_fig = not(opt.noshow) |
Definition at line 455 of file arm_trajectories.py.
list doors_forces_kinematics::arm_trajectories::st_pt = pts_2d[:,0] |
Definition at line 767 of file arm_trajectories.py.
00001 tr.angle_within_mod180(math.atan2(pts_2d[1,0]-cy, 00002 pts_2d[0,0]-cx) - math.pi/2)
Definition at line 554 of file arm_trajectories.py.
Definition at line 534 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::sturm_file = open(sturm_file_name,'w') |
Definition at line 537 of file arm_trajectories.py.
Definition at line 535 of file arm_trajectories.py.
Definition at line 458 of file arm_trajectories.py.
doors_forces_kinematics::arm_trajectories::sturm_pts = cartesian_force_clean.p_list |
Definition at line 538 of file arm_trajectories.py.
Definition at line 799 of file arm_trajectories.py.
Definition at line 578 of file arm_trajectories.py.
Definition at line 679 of file arm_trajectories.py.
Definition at line 714 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::tangential_vec = np.matrix([[0,-1],[1,0]]) |
Definition at line 669 of file arm_trajectories.py.
Definition at line 820 of file arm_trajectories.py.
Definition at line 715 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::wf_text = rad_text_loc+np.matrix([-0.06,0.015]) |
Definition at line 695 of file arm_trajectories.py.
string doors_forces_kinematics::arm_trajectories::wrist_color = '#A0A000' |
Definition at line 687 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::wrist_force = -np.matrix(force_new.f_list[zoom_location]) |
Definition at line 688 of file arm_trajectories.py.
tuple doors_forces_kinematics::arm_trajectories::x_coord_list = np.matrix(p_list) |
Definition at line 822 of file arm_trajectories.py.
Definition at line 528 of file arm_trajectories.py.
Definition at line 445 of file arm_trajectories.py.
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Definition at line 612 of file arm_trajectories.py.