compliant_trajectories.py File Reference

Go to the source code of this file.

Classes
class	compliant_trajectories.CompliantMotionGenerator
Namespaces
namespace	compliant_trajectories
Functions
def	compliant_trajectories.test_elbow_angle
def	compliant_trajectories.test_IK
Variables
	compliant_trajectories.camera_flag = opt.camera
tuple	compliant_trajectories.cmg = CompliantMotionGenerator()
string	compliant_trajectories.default = 'hook angle (degrees).'
	compliant_trajectories.elbow_angle_flag = opt.eaf
tuple	compliant_trajectories.firenze = hr.M3HrlRobot(connect=True,right_arm_settings=settings_r)
	compliant_trajectories.firm_hook_flag = opt.firm_hook
	compliant_trajectories.ft = opt.ft
	compliant_trajectories.ha = opt.ha
string	compliant_trajectories.help = 'test IK at a single position.'
tuple	compliant_trajectories.hook_3dprint_angle = math.radians(20-2.54)
tuple	compliant_trajectories.hook_angle = math.radians(ha)
	compliant_trajectories.ik_single_pos_flag = opt.ik_single_pos
	compliant_trajectories.info_string = opt.info_string
tuple	compliant_trajectories.k = m3t.get_keystroke()
tuple	compliant_trajectories.p = optparse.OptionParser()
	compliant_trajectories.pull_flag = opt.pull
tuple	compliant_trajectories.pull_loc = ut.load_pickle(pull_pos_pkl)
	compliant_trajectories.pull_pos_pkl = opt.pull_pos_pkl
tuple	compliant_trajectories.rot_mat = tr.Rz(hook_angle-hook_3dprint_angle)
	compliant_trajectories.scan_flag = opt.scan
tuple	compliant_trajectories.settings_r = hr.MekaArmSettings(stiffness_list=[0.15,0.7,0.8,0.8,0.8])
list	compliant_trajectories.stiff_scale_list = [1.0,1.2,0.8]
	compliant_trajectories.strategy = strategy,pull_locpull_loc,info_stringinfo_string)
	compliant_trajectories.test_ik_flag = opt.ik_test
	compliant_trajectories.vary_expt_flag = opt.ve