Functions | |
| def | cep_gen_surface_follow |
| def | go_jep |
| def | go_pose |
| def | interpolated_linear_trajectory |
| def | move_till_hit |
| def | pull_back_cartesian_control |
| Pull back along a straight line (-ve x direction) | |
| def | rot_mat_interpolate |
Variables | |
| arm = r_arm | |
| dist_left | |
| list | ea = [0, 0, 0, 0, 0, 0, 0] |
| list | end_pos = [0.05, 0.02, -0.03] |
| tuple | epc = EPC(pr2_arms) |
| eq_gen_step | |
| tuple | goal_pos = p+np.matrix([0.2, 0., 0.]) |
| goal_rot = r | |
| pos_waypoints | |
| tuple | pr2_arms = pa.PR2Arms() |
| prev_err_mag | |
| tuple | q = epc.robot.get_joint_angles(arm) |
| tuple | res = epc.go_pose(arm, goal_pos, goal_rot) |
| rot_waypoints | |
| list | start_pos = [0, 0, 0] |
| def equilibrium_point_control.samples.cep_gen_surface_follow | ( | self, | |
| arm, | |||
| move_dir, | |||
| force_threshold, | |||
| cep, | |||
| cep_start | |||
| ) |
Definition at line 59 of file samples.py.
| def equilibrium_point_control.samples.go_jep | ( | self, | |
| arm, | |||
| goal_jep, | |||
speed = math.radians(20), |
|||
rapid_call_func = None |
|||
| ) |
Definition at line 178 of file samples.py.
| def equilibrium_point_control.samples.go_pose | ( | self, | |
| arm, | |||
| goal_pos, | |||
| goal_rot | |||
| ) |
Definition at line 88 of file samples.py.
| def equilibrium_point_control.samples.interpolated_linear_trajectory | ( | self, | |
| arm, | |||
| start_pos, | |||
| start_rot, | |||
| end_pos, | |||
| end_rot, | |||
| offset_pos, | |||
| offset_rot | |||
| ) |
Definition at line 128 of file samples.py.
| def equilibrium_point_control.samples.move_till_hit | ( | self, | |
| arm, | |||
vec = np.matrix([0.3,0., |
|||
| T, | |||
force_threshold = 3.0, |
|||
speed = 0.1, |
|||
bias_FT = True |
|||
| ) |
Definition at line 28 of file samples.py.
| def equilibrium_point_control.samples.pull_back_cartesian_control | ( | self, | |
| arm, | |||
| distance, | |||
| logging_fn | |||
| ) |
Pull back along a straight line (-ve x direction)
| arm | - 'right_arm' or 'left_arm' |
| distance | - how far back to pull. |
Definition at line 7 of file samples.py.
| def equilibrium_point_control.samples.rot_mat_interpolate | ( | self, | |
| start_rot, | |||
| end_rot, | |||
| num | |||
| ) |
Definition at line 114 of file samples.py.
Definition at line 219 of file samples.py.
Definition at line 7 of file samples.py.
| list equilibrium_point_control::samples::ea = [0, 0, 0, 0, 0, 0, 0] |
Definition at line 224 of file samples.py.
| list equilibrium_point_control::samples::end_pos = [0.05, 0.02, -0.03] |
Definition at line 250 of file samples.py.
| tuple equilibrium_point_control::samples::epc = EPC(pr2_arms) |
Definition at line 216 of file samples.py.
Definition at line 128 of file samples.py.
| tuple equilibrium_point_control::samples::goal_pos = p+np.matrix([0.2, 0., 0.]) |
Definition at line 238 of file samples.py.
Definition at line 237 of file samples.py.
Definition at line 128 of file samples.py.
| tuple equilibrium_point_control::samples::pr2_arms = pa.PR2Arms() |
Definition at line 215 of file samples.py.
Definition at line 128 of file samples.py.
| tuple equilibrium_point_control::samples::q = epc.robot.get_joint_angles(arm) |
Definition at line 222 of file samples.py.
| tuple equilibrium_point_control::samples::res = epc.go_pose(arm, goal_pos, goal_rot) |
Definition at line 240 of file samples.py.
Definition at line 128 of file samples.py.
| list equilibrium_point_control::samples::start_pos = [0, 0, 0] |
Definition at line 249 of file samples.py.