Classes | |
class | URDFArm |
Functions | |
def | publish_rviz_markers |
def | wrap_angles |
self.delta_jep = des_jep jep = (np.array(des_jep)).tolist() trajectory = JointTrajectory() trajectory.joint_names = self.joint_names_list jtp = JointTrajectoryPoint() jtp.positions = jep jtp.time_from_start = rospy.Duration(0.15) trajectory.points.append(jtp) self.joint_angles_pub.publish(trajectory) self.ep = jep | |
Variables | |
tuple | epcon = epc.EPC(robot) |
list | jep = [0.] |
tuple | q = robot.get_joint_angles() |
tuple | robot = URDFArm('l') |
Definition at line 236 of file urdf_arm_darpa_m3.py.
def hrl_haptic_mpc.urdf_arm_darpa_m3.wrap_angles | ( | self, | |
q | |||
) |
self.delta_jep = des_jep jep = (np.array(des_jep)).tolist() trajectory = JointTrajectory() trajectory.joint_names = self.joint_names_list jtp = JointTrajectoryPoint() jtp.positions = jep jtp.time_from_start = rospy.Duration(0.15) trajectory.points.append(jtp) self.joint_angles_pub.publish(trajectory) self.ep = jep
Definition at line 228 of file urdf_arm_darpa_m3.py.
tuple hrl_haptic_mpc::urdf_arm_darpa_m3::epcon = epc.EPC(robot) |
Definition at line 273 of file urdf_arm_darpa_m3.py.
Definition at line 263 of file urdf_arm_darpa_m3.py.
tuple hrl_haptic_mpc::urdf_arm_darpa_m3::q = robot.get_joint_angles() |
Definition at line 278 of file urdf_arm_darpa_m3.py.
tuple hrl_haptic_mpc::urdf_arm_darpa_m3::robot = URDFArm('l') |
Definition at line 260 of file urdf_arm_darpa_m3.py.