Variables
list	b_jt_anchor
list	b_jt_attach = [[0, -1], [1, 0], [2,1], [3,2], [4,3]]
list	b_jt_axis = [[0.,0.,1.],[0.,0.,1.], [0.,0.,1.], [0.,0.,1.],[0.,0.,1.]]
list	b_jt_kd = [7., 5., 3., 2., 1.]
list	b_jt_kp = [30., 19., 10., 5., 2.2]
tuple	b_jt_limits_max = np.radians([180, 120, 120, 120, 120])
tuple	b_jt_limits_min = np.radians([-180, -120, -120, -120, -120])
list	b_jt_start = [-1.52, 0.447, 1.17, 1.52, 0.637]
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], [0.1, 0.1, 0.1, 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']
int	bod_num_links = 5
list	bod_shapes = ['capsule', 'capsule', 'capsule', 'capsule', 'capsule']
dictionary	bodies
tuple	ee_location = np.matrix([0., -total_length, height])
	link_length = total_length/num_links
	link_mass = total_mass/num_links
float	num_links = 5.0

Variable Documentation

list hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::b_jt_anchor

Initial value:

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]]

Definition at line 34 of file multi_link_five_planar.py.

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

Definition at line 45 of file multi_link_five_planar.py.

list hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::b_jt_axis = [[0.,0.,1.],[0.,0.,1.], [0.,0.,1.], [0.,0.,1.],[0.,0.,1.]]

Definition at line 33 of file multi_link_five_planar.py.

list hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::b_jt_kd = [7., 5., 3., 2., 1.]

Definition at line 41 of file multi_link_five_planar.py.

list hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::b_jt_kp = [30., 19., 10., 5., 2.2]

Definition at line 40 of file multi_link_five_planar.py.

tuple hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::b_jt_limits_max = np.radians([180, 120, 120, 120, 120])

Definition at line 42 of file multi_link_five_planar.py.

tuple hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::b_jt_limits_min = np.radians([-180, -120, -120, -120, -120])

Definition at line 43 of file multi_link_five_planar.py.

list hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::b_jt_start = [-1.52, 0.447, 1.17, 1.52, 0.637]

Definition at line 47 of file multi_link_five_planar.py.

dictionary hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::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,
00003          'jt_stiffness':b_jt_kp, 'jt_damping':b_jt_kd}

Definition at line 50 of file multi_link_five_planar.py.

list hrl_common_code_darpa_m3::robot_config::multi_link_five_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], [0.1, 0.1, 0.1, 1]]

Definition at line 25 of file multi_link_five_planar.py.

list hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::bod_com_position

Initial value:

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]]

Definition at line 19 of file multi_link_five_planar.py.

list hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::bod_dimensions = [[0.03, 0.03, link_length]]

Definition at line 17 of file multi_link_five_planar.py.

list hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::bod_mass = [link_mass]

Definition at line 27 of file multi_link_five_planar.py.

list hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::bod_names = ['link1', 'link2', 'link3', 'link4', 'link5']

Definition at line 29 of file multi_link_five_planar.py.

int hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::bod_num_links = 5

Definition at line 26 of file multi_link_five_planar.py.

list hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::bod_shapes = ['capsule', 'capsule', 'capsule', 'capsule', 'capsule']

Definition at line 15 of file multi_link_five_planar.py.

dictionary hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::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 30 of file multi_link_five_planar.py.

tuple hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::ee_location = np.matrix([0., -total_length, height])

Definition at line 13 of file multi_link_five_planar.py.

hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::link_length = total_length/num_links

Definition at line 10 of file multi_link_five_planar.py.

hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::link_mass = total_mass/num_links

Definition at line 11 of file multi_link_five_planar.py.

float hrl_common_code_darpa_m3::robot_config::multi_link_five_planar::num_links = 5.0

Definition at line 9 of file multi_link_five_planar.py.

Variables

Variable Documentation