Variables
float	arm_thck = 0.07
list	b_jt_anchor
list	b_jt_attach = [[0, -1], [1, 0], [2,1], [3,2], [4,3], [5,4]]
list	b_jt_axis = [[0.,-1.0,0.],[-1.,0.,0.], [0., 0., -1.], [0.,-1.,0.], [0., 0., -1.], [0., 1., 0.]]
tuple	b_jt_limits_max = np.radians([ 120., 122., 77.5, 144., 122., 45.])
tuple	b_jt_limits_min = np.radians([ -47.61, -20., -77.5, -5.0, -80., -45.])
tuple	b_jt_start = np.radians([0., 0., 0., 0., 0., 0.])
dictionary	b_jts
int	b_num_jts = 6
list	bod_color
list	bod_com_position
list	bod_dimensions
list	bod_mass = [2.0, 0.636, 2.3, 0.339, 1.18, 0.32]
list	bod_names = ['link1', 'link2', 'link3', 'link4', 'link5', 'link6', 'link7']
int	bod_num_links = 6
list	bod_shapes = ['cube', 'cube', 'cube', 'cube', 'cube', 'cube']
dictionary	bodies
float	ee_length = 0.10
tuple	ee_location = np.matrix([0., -l1-l2, height-l3-l4-l5-l6-lee_block])
float	height = 0.0
float	l1 = 0.185
float	l2 = 0.085
float	l3 = 0.09
float	l4 = 0.278
float	l4_offset = 0.00635
float	l5 = 0.065
float	l6 = 0.279
float	lee = 0.1
float	lee_block = 0.04
float	lower_arm = 0.25
float	upper_arm = 0.25

Variable Documentation

float hrl_common_code_darpa_m3::robot_config::cody_config_test::arm_thck = 0.07

Definition at line 19 of file cody_config_test.py.

list hrl_common_code_darpa_m3::robot_config::cody_config_test::b_jt_anchor

Initial value:

00001 [[0., -l1, height], [0., -l1-l2, height],
00002                [0., -l1-l2, height-l3],
00003                [0., -l1-l2, height-l3-l4],
00004                [0., -l1-l2, height-l3-l4-l5],
00005                [0., -l1-l2, height-l3-l4-l5-l6]]

Definition at line 58 of file cody_config_test.py.

list hrl_common_code_darpa_m3::robot_config::cody_config_test::b_jt_attach = [[0, -1], [1, 0], [2,1], [3,2], [4,3], [5,4]]

Definition at line 67 of file cody_config_test.py.

list hrl_common_code_darpa_m3::robot_config::cody_config_test::b_jt_axis = [[0.,-1.0,0.],[-1.,0.,0.], [0., 0., -1.], [0.,-1.,0.], [0., 0., -1.], [0., 1., 0.]]

Definition at line 57 of file cody_config_test.py.

tuple hrl_common_code_darpa_m3::robot_config::cody_config_test::b_jt_limits_max = np.radians([ 120., 122., 77.5, 144., 122., 45.])

Definition at line 65 of file cody_config_test.py.

tuple hrl_common_code_darpa_m3::robot_config::cody_config_test::b_jt_limits_min = np.radians([ -47.61, -20., -77.5, -5.0, -80., -45.])

Definition at line 66 of file cody_config_test.py.

tuple hrl_common_code_darpa_m3::robot_config::cody_config_test::b_jt_start = np.radians([0., 0., 0., 0., 0., 0.])

Definition at line 68 of file cody_config_test.py.

dictionary hrl_common_code_darpa_m3::robot_config::cody_config_test::b_jts

Initial value:

00001 {'anchor':b_jt_anchor, 'axis':b_jt_axis, 'jt_lim_max':b_jt_limits_max,
00002          'jt_lim_min':b_jt_limits_min, 'jt_init':b_jt_start, 'jt_attach':b_jt_attach, 'num_jts':b_num_jts}

Definition at line 70 of file cody_config_test.py.

int hrl_common_code_darpa_m3::robot_config::cody_config_test::b_num_jts = 6

Definition at line 64 of file cody_config_test.py.

list hrl_common_code_darpa_m3::robot_config::cody_config_test::bod_color

Initial value:

00001 [[0.4, 0.4, 0.4, 1], [0.8, 0.8, 0.8, 1], [0.33, 0.3, 0.33, 1], 
00002              [0.4, 0.4, 0.4, 1], [0.8, 0.8, 0.8, 1], [0.33, 0.33, 0.33, 1]]

Definition at line 37 of file cody_config_test.py.

list hrl_common_code_darpa_m3::robot_config::cody_config_test::bod_com_position

Initial value:

00001 [[0., -l1-l2/2.0, height], 
00002                     [0., -l1-l2, height-l3/2.0], 
00003                     [0., -l1-l2, height-l3-l4/2.0], 
00004                     [0., -l1-l2, height-l3-l4-l5/2.0],
00005                     [0., -l1-l2, height-l3-l4-l5-l6/2.0],
00006                     [0., -l1-l2, height-l3-l4-l5-l6-lee_block/2.0]]

Definition at line 29 of file cody_config_test.py.

list hrl_common_code_darpa_m3::robot_config::cody_config_test::bod_dimensions

Initial value:

00001 [[arm_thck, l2, arm_thck], [arm_thck, arm_thck, l3], 
00002                   [arm_thck, arm_thck, l4],  [arm_thck, arm_thck, l5], 
00003                   [arm_thck, arm_thck, l6],  [arm_thck, arm_thck, lee_block]]

Definition at line 24 of file cody_config_test.py.

list hrl_common_code_darpa_m3::robot_config::cody_config_test::bod_mass = [2.0, 0.636, 2.3, 0.339, 1.18, 0.32]

Definition at line 41 of file cody_config_test.py.

list hrl_common_code_darpa_m3::robot_config::cody_config_test::bod_names = ['link1', 'link2', 'link3', 'link4', 'link5', 'link6', 'link7']

Definition at line 46 of file cody_config_test.py.

int hrl_common_code_darpa_m3::robot_config::cody_config_test::bod_num_links = 6

Definition at line 40 of file cody_config_test.py.

list hrl_common_code_darpa_m3::robot_config::cody_config_test::bod_shapes = ['cube', 'cube', 'cube', 'cube', 'cube', 'cube']

Definition at line 23 of file cody_config_test.py.

dictionary hrl_common_code_darpa_m3::robot_config::cody_config_test::bodies

Initial value:

00001 {'shapes':bod_shapes, 'dim':bod_dimensions, 'num_links':bod_num_links,
00002          'com_pos':bod_com_position, 'mass':bod_mass, 'name':bod_names, 'color':bod_color}

Definition at line 47 of file cody_config_test.py.

float hrl_common_code_darpa_m3::robot_config::cody_config_test::ee_length = 0.10

Definition at line 20 of file cody_config_test.py.