Variables
list	b_jt_anchor
list	b_jt_attach = [[0, -1], [1, 0], [2,1]]
list	b_jt_axis = [[0.,0.,1.],[0.,0.,1.], [0.,0.,1.]]
list	b_jt_kd = [15., 10., 8.]
list	b_jt_kp = [30., 20., 15.]
tuple	b_jt_limits_max = np.radians([150, 162, 159])
tuple	b_jt_limits_min = np.radians([-150, -63, 0])
tuple	b_jt_start = np.radians([-60., 45., 135.])
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]]
list	bod_mass = [11.34/4.0, 2.3, 1.32]
list	bod_names = ['link1', 'link2', 'link3']
int	bod_num_links = 3
tuple	ee_location = np.matrix([0., -torso_half_width-upper_arm_length-forearm_length, height])
float	forearm_length = 0.288
float	height = 0.0
float	torso_half_width = 0.196
float	upper_arm_length = 0.334

Variable Documentation

list hrl_common_code_darpa_m3::robot_config::three_link_planar_common::b_jt_anchor

Initial value:

00001 [[0., 0., height], [0., -torso_half_width, height], 
00002                [0., -torso_half_width-upper_arm_length, height]]

Definition at line 20 of file three_link_planar_common.py.

list hrl_common_code_darpa_m3::robot_config::three_link_planar_common::b_jt_attach = [[0, -1], [1, 0], [2,1]]

Definition at line 27 of file three_link_planar_common.py.

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

Definition at line 19 of file three_link_planar_common.py.

list hrl_common_code_darpa_m3::robot_config::three_link_planar_common::b_jt_kd = [15., 10., 8.]

Definition at line 23 of file three_link_planar_common.py.

list hrl_common_code_darpa_m3::robot_config::three_link_planar_common::b_jt_kp = [30., 20., 15.]

Definition at line 22 of file three_link_planar_common.py.

tuple hrl_common_code_darpa_m3::robot_config::three_link_planar_common::b_jt_limits_max = np.radians([150, 162, 159])

Definition at line 24 of file three_link_planar_common.py.

tuple hrl_common_code_darpa_m3::robot_config::three_link_planar_common::b_jt_limits_min = np.radians([-150, -63, 0])

Definition at line 25 of file three_link_planar_common.py.

tuple hrl_common_code_darpa_m3::robot_config::three_link_planar_common::b_jt_start = np.radians([-60., 45., 135.])

Definition at line 29 of file three_link_planar_common.py.

dictionary hrl_common_code_darpa_m3::robot_config::three_link_planar_common::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 32 of file three_link_planar_common.py.

list hrl_common_code_darpa_m3::robot_config::three_link_planar_common::bod_color = [[0.4, 0.4, 0.4, 1], [0.8, 0.8, 0.8, 1], [0.33, 0.33, 0.33, 1]]

Definition at line 12 of file three_link_planar_common.py.

list hrl_common_code_darpa_m3::robot_config::three_link_planar_common::bod_mass = [11.34/4.0, 2.3, 1.32]

Definition at line 15 of file three_link_planar_common.py.

list hrl_common_code_darpa_m3::robot_config::three_link_planar_common::bod_names = ['link1', 'link2', 'link3']

Definition at line 17 of file three_link_planar_common.py.

int hrl_common_code_darpa_m3::robot_config::three_link_planar_common::bod_num_links = 3

Definition at line 13 of file three_link_planar_common.py.