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 = [3., 2., 1.]
list	b_jt_kp = [20., 15., 10.]
tuple	b_jt_limits_max = np.radians([162, 159, 90])
tuple	b_jt_limits_min = np.radians([-63, 0, -45])
tuple	b_jt_start = np.radians([-30.0, 150, 15])
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_com_position
list	bod_dimensions
list	bod_mass = [2.3, 1.32, 0.7]
list	bod_names = ['link1', 'link2', 'link3']
int	bod_num_links = 3
list	bod_shapes = ['capsule', 'capsule', 'capsule']
dictionary	bodies
float	dia = 0.03
tuple	ee_location = np.matrix([0., -upper_arm_length-forearm_length-hand_length, height])
float	forearm_length = 0.288
float	hand_length = 0.12
float	height = 0.0
float	upper_arm_length = 0.334

Variable Documentation

list hrl_common_code_darpa_m3::robot_config::three_link_with_hand::b_jt_anchor

Initial value:

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

Definition at line 20 of file three_link_with_hand.py.

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

Definition at line 27 of file three_link_with_hand.py.

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

Definition at line 19 of file three_link_with_hand.py.

list hrl_common_code_darpa_m3::robot_config::three_link_with_hand::b_jt_kd = [3., 2., 1.]

Definition at line 23 of file three_link_with_hand.py.

list hrl_common_code_darpa_m3::robot_config::three_link_with_hand::b_jt_kp = [20., 15., 10.]

Definition at line 22 of file three_link_with_hand.py.

tuple hrl_common_code_darpa_m3::robot_config::three_link_with_hand::b_jt_limits_max = np.radians([162, 159, 90])

Definition at line 24 of file three_link_with_hand.py.

tuple hrl_common_code_darpa_m3::robot_config::three_link_with_hand::b_jt_limits_min = np.radians([-63, 0, -45])

Definition at line 25 of file three_link_with_hand.py.

tuple hrl_common_code_darpa_m3::robot_config::three_link_with_hand::b_jt_start = np.radians([-30.0, 150, 15])

Definition at line 29 of file three_link_with_hand.py.

dictionary hrl_common_code_darpa_m3::robot_config::three_link_with_hand::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_with_hand.py.

list hrl_common_code_darpa_m3::robot_config::three_link_with_hand::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_with_hand.py.

list hrl_common_code_darpa_m3::robot_config::three_link_with_hand::bod_com_position

Initial value:

00001 [[0., -upper_arm_length/2., height], 
00002                     [0., -upper_arm_length-forearm_length/2., height], 
00003                     [0., -upper_arm_length-forearm_length-hand_length/2.+dia/4, height]]

Definition at line 44 of file three_link_with_hand.py.

list hrl_common_code_darpa_m3::robot_config::three_link_with_hand::bod_dimensions

Initial value:

00001 [[dia, dia, upper_arm_length], [dia, dia, forearm_length], 
00002                   [dia, dia, hand_length-dia/2]]

Definition at line 41 of file three_link_with_hand.py.

list hrl_common_code_darpa_m3::robot_config::three_link_with_hand::bod_mass = [2.3, 1.32, 0.7]

Definition at line 15 of file three_link_with_hand.py.

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

Definition at line 17 of file three_link_with_hand.py.

int hrl_common_code_darpa_m3::robot_config::three_link_with_hand::bod_num_links = 3

Definition at line 13 of file three_link_with_hand.py.

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

Definition at line 38 of file three_link_with_hand.py.

dictionary hrl_common_code_darpa_m3::robot_config::three_link_with_hand::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 48 of file three_link_with_hand.py.

float hrl_common_code_darpa_m3::robot_config::three_link_with_hand::dia = 0.03

Definition at line 40 of file three_link_with_hand.py.

tuple hrl_common_code_darpa_m3::robot_config::three_link_with_hand::ee_location = np.matrix([0., -upper_arm_length-forearm_length-hand_length, height])

Definition at line 10 of file three_link_with_hand.py.

float hrl_common_code_darpa_m3::robot_config::three_link_with_hand::forearm_length = 0.288

Definition at line 7 of file three_link_with_hand.py.

float hrl_common_code_darpa_m3::robot_config::three_link_with_hand::hand_length = 0.12

Definition at line 8 of file three_link_with_hand.py.

float hrl_common_code_darpa_m3::robot_config::three_link_with_hand::height = 0.0

Definition at line 5 of file three_link_with_hand.py.

float hrl_common_code_darpa_m3::robot_config::three_link_with_hand::upper_arm_length = 0.334

Definition at line 6 of file three_link_with_hand.py.

Variables

Variable Documentation