Variables | |
| list | b_jt_anchor |
| list | b_jt_attach = [[0, -1], [1, 0], [2,1], [3,2], [4,3], [5,4], [6,5], [7,6]] |
| list | b_jt_axis = [[0.,0.,1.],[0.,0.,1.], [0.,0.,1.], [0.,0.,1.],[0.,0.,1.], [0.,0.,1.], [0.,0.,1.], [0.,0.,1.]] |
| list | b_jt_kd = [1.8, 1.0, 1.0, 1.0, 1.2, 0.8, 0.5, 0.2] |
| list | b_jt_kp = [25., 10., 8., 6., 5., 2.5, 1.5, 1.] |
| tuple | b_jt_limits_max = np.radians([180, 120, 120, 120, 120, 120, 120, 120]) |
| tuple | b_jt_limits_min = np.radians([-180, -120, -120, -120, -120, -120, -120, -120]) |
| list | b_jt_start = [-2.06, 0.766, 0.446, 0.467, 0.811, 0.882, 0.775, 0.243] |
| dictionary | b_jts |
| list | bod_color = [[0.4, 0.4, 0.4, 1], [0.8, 0.8, 0.8, 1], [0.33, 0.33, 0.33, 1], [0.5, 0.5, 0.5, 1], [0.7, 0.7, 0.7, 1], [0.45, 0.45, 0.45, 1], [0.35, 0.35, 0.35, 1], [0.6, 0.6, 0.6, 1]] |
| list | bod_com_position |
| list | bod_dimensions = [[0.03, 0.03, link_length]] |
| list | bod_mass = [link_mass] |
| list | bod_names = ['link1', 'link2', 'link3', 'link4', 'link5', 'link6', 'link7', 'link8'] |
| int | bod_num_links = 8 |
| list | bod_shapes = ['capsule', 'capsule', 'capsule', 'capsule', 'capsule', 'capsule', 'capsule', 'capsule'] |
| dictionary | bodies |
| tuple | ee_location = np.matrix([0., -link_length*8.0, height]) |
| link_length = total_length/num_links | |
| link_mass = total_mass/num_links | |
| float | num_links = 8.0 |
00001 [[0., 0., height], 00002 [0., -link_length, height], 00003 [0., -2*link_length, height], 00004 [0., -3*link_length, height], 00005 [0., -4*link_length, height], 00006 [0., -5*link_length, height], 00007 [0., -6*link_length, height], 00008 [0., -7*link_length, height]]
Definition at line 38 of file multi_link_eight_planar.py.
| list hrl_common_code_darpa_m3::robot_config::multi_link_eight_planar::b_jt_attach = [[0, -1], [1, 0], [2,1], [3,2], [4,3], [5,4], [6,5], [7,6]] |
Definition at line 51 of file multi_link_eight_planar.py.
| list hrl_common_code_darpa_m3::robot_config::multi_link_eight_planar::b_jt_axis = [[0.,0.,1.],[0.,0.,1.], [0.,0.,1.], [0.,0.,1.],[0.,0.,1.], [0.,0.,1.], [0.,0.,1.], [0.,0.,1.]] |
Definition at line 37 of file multi_link_eight_planar.py.
| list hrl_common_code_darpa_m3::robot_config::multi_link_eight_planar::b_jt_kd = [1.8, 1.0, 1.0, 1.0, 1.2, 0.8, 0.5, 0.2] |
Definition at line 47 of file multi_link_eight_planar.py.
| list hrl_common_code_darpa_m3::robot_config::multi_link_eight_planar::b_jt_kp = [25., 10., 8., 6., 5., 2.5, 1.5, 1.] |
Definition at line 46 of file multi_link_eight_planar.py.
| tuple hrl_common_code_darpa_m3::robot_config::multi_link_eight_planar::b_jt_limits_max = np.radians([180, 120, 120, 120, 120, 120, 120, 120]) |
Definition at line 48 of file multi_link_eight_planar.py.
| tuple hrl_common_code_darpa_m3::robot_config::multi_link_eight_planar::b_jt_limits_min = np.radians([-180, -120, -120, -120, -120, -120, -120, -120]) |
Definition at line 49 of file multi_link_eight_planar.py.
| list hrl_common_code_darpa_m3::robot_config::multi_link_eight_planar::b_jt_start = [-2.06, 0.766, 0.446, 0.467, 0.811, 0.882, 0.775, 0.243] |
Definition at line 52 of file multi_link_eight_planar.py.
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, 00003 'jt_stiffness':b_jt_kp, 'jt_damping':b_jt_kd}
Definition at line 54 of file multi_link_eight_planar.py.
| list hrl_common_code_darpa_m3::robot_config::multi_link_eight_planar::bod_color = [[0.4, 0.4, 0.4, 1], [0.8, 0.8, 0.8, 1], [0.33, 0.33, 0.33, 1], [0.5, 0.5, 0.5, 1], [0.7, 0.7, 0.7, 1], [0.45, 0.45, 0.45, 1], [0.35, 0.35, 0.35, 1], [0.6, 0.6, 0.6, 1]] |
Definition at line 28 of file multi_link_eight_planar.py.
00001 [[0., -link_length/2., height], 00002 [0., -3.0/2.0*link_length, height], 00003 [0., -5.0/2.0*link_length, height], 00004 [0., -7.0/2.0*link_length, height], 00005 [0., -9.0/2.0*link_length, height], 00006 [0., -11.0/2.0*link_length, height], 00007 [0., -13.0/2.0*link_length, height], 00008 [0., -15.0/2.0*link_length, height]]
Definition at line 19 of file multi_link_eight_planar.py.
| list hrl_common_code_darpa_m3::robot_config::multi_link_eight_planar::bod_dimensions = [[0.03, 0.03, link_length]] |
Definition at line 17 of file multi_link_eight_planar.py.
Definition at line 30 of file multi_link_eight_planar.py.
| list hrl_common_code_darpa_m3::robot_config::multi_link_eight_planar::bod_names = ['link1', 'link2', 'link3', 'link4', 'link5', 'link6', 'link7', 'link8'] |
Definition at line 33 of file multi_link_eight_planar.py.
Definition at line 29 of file multi_link_eight_planar.py.
| list hrl_common_code_darpa_m3::robot_config::multi_link_eight_planar::bod_shapes = ['capsule', 'capsule', 'capsule', 'capsule', 'capsule', 'capsule', 'capsule', 'capsule'] |
Definition at line 15 of file multi_link_eight_planar.py.
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 34 of file multi_link_eight_planar.py.
| tuple hrl_common_code_darpa_m3::robot_config::multi_link_eight_planar::ee_location = np.matrix([0., -link_length*8.0, height]) |
Definition at line 13 of file multi_link_eight_planar.py.
| hrl_common_code_darpa_m3::robot_config::multi_link_eight_planar::link_length = total_length/num_links |
Definition at line 10 of file multi_link_eight_planar.py.
Definition at line 11 of file multi_link_eight_planar.py.
Definition at line 9 of file multi_link_eight_planar.py.