hrl_haptic_mpc.hrl_arm.HRLArmKinematics Class Reference

List of all members.

Public Member Functions
def	__init__
def	arm_config_to_points_list
def	distance_from_arm
def	distance_from_ee_along_arm
def	FK
def	FK_vanilla
def	get_joint_limits
	return min_array, max_array
def	IK
	Computes IK for the tooltip.
def	IK
def	IK_vanilla
def	is_contact_at_joint
def	jacobian
	compute Jacobian at point pos.
def	set_tooltip
	define tooltip as a 3x1 np matrix in the wrist coord frame.
Public Attributes
	n_jts
	tooltip_pos
	tooltip_rot

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Detailed Description

Definition at line 86 of file hrl_arm.py.

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Constructor & Destructor Documentation

def hrl_haptic_mpc.hrl_arm.HRLArmKinematics.__init__	(		self,
			n_jts
	)

Definition at line 87 of file hrl_arm.py.

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Member Function Documentation

def hrl_haptic_mpc.hrl_arm.HRLArmKinematics.arm_config_to_points_list	(		self,
			q
	)

Definition at line 151 of file hrl_arm.py.

def hrl_haptic_mpc.hrl_arm.HRLArmKinematics.distance_from_arm	(		self,
			q,
			pt
	)

Definition at line 165 of file hrl_arm.py.

def hrl_haptic_mpc.hrl_arm.HRLArmKinematics.distance_from_ee_along_arm	(		self,
			q,
			pt
	)

Definition at line 156 of file hrl_arm.py.

def hrl_haptic_mpc.hrl_arm.HRLArmKinematics.FK	(		self,
			q,
			link_number = None
	)

Definition at line 99 of file hrl_arm.py.

def hrl_haptic_mpc.hrl_arm.HRLArmKinematics.FK_vanilla	(		self,
			q,
			link_number = None
	)

Definition at line 93 of file hrl_arm.py.

def hrl_haptic_mpc.hrl_arm.HRLArmKinematics.get_joint_limits

(

self

)

return min_array, max_array

Definition at line 138 of file hrl_arm.py.

def hrl_haptic_mpc.hrl_arm.HRLArmKinematics.IK	(		self,
			pos,
			rot,
			q_guess = None
	)

Computes IK for the tooltip.

The desired location is first transformed back into the last link's frame and IK is performed on that location.

Parameters:

pos	Desired link position (3x1 np matrix)
rot	Desired link rotation (3x3 np matrix)
q_guess	Estimate of the desired joint angles which seeds the IK solver

Definition at line 118 of file hrl_arm.py.

def hrl_haptic_mpc.hrl_arm.HRLArmKinematics.IK	(		self,
			p,
			rot,
			q_guess = None
	)

Definition at line 129 of file hrl_arm.py.

def hrl_haptic_mpc.hrl_arm.HRLArmKinematics.IK_vanilla	(		self,
			p,
			rot,
			q_guess = None
	)

Definition at line 124 of file hrl_arm.py.

def hrl_haptic_mpc.hrl_arm.HRLArmKinematics.is_contact_at_joint	(		self,
			pt,
			q,
			dist_threshold
	)

Definition at line 176 of file hrl_arm.py.

def hrl_haptic_mpc.hrl_arm.HRLArmKinematics.jacobian	(		self,
			q,
			pos = None
	)

compute Jacobian at point pos.

Definition at line 134 of file hrl_arm.py.

def hrl_haptic_mpc.hrl_arm.HRLArmKinematics.set_tooltip	(		self,
			p,
			rot = np.matrix(np.eye(3))
	)

define tooltip as a 3x1 np matrix in the wrist coord frame.

Definition at line 142 of file hrl_arm.py.

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Member Data Documentation

hrl_haptic_mpc::hrl_arm.HRLArmKinematics::n_jts

Definition at line 87 of file hrl_arm.py.

hrl_haptic_mpc::hrl_arm.HRLArmKinematics::tooltip_pos

Definition at line 87 of file hrl_arm.py.

hrl_haptic_mpc::hrl_arm.HRLArmKinematics::tooltip_rot

Definition at line 87 of file hrl_arm.py.

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The documentation for this class was generated from the following file:

• hrl_arm.py