compliant_trajectories Namespace Reference

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

---

Function Documentation

def compliant_trajectories.test_elbow_angle

(

)

Definition at line 495 of file compliant_trajectories.py.

def compliant_trajectories.test_IK

(

rot_mat

)

try out the IK at a number of different cartesian
    points in the workspace, with the given rotation
    matrix for the end effector.

Definition at line 475 of file compliant_trajectories.py.

---

Variable Documentation

compliant_trajectories::camera_flag = opt.camera

Definition at line 551 of file compliant_trajectories.py.

tuple compliant_trajectories::cmg = CompliantMotionGenerator()

Definition at line 566 of file compliant_trajectories.py.

string compliant_trajectories::default = 'hook angle (degrees).'

Definition at line 534 of file compliant_trajectories.py.

compliant_trajectories::elbow_angle_flag = opt.eaf

Definition at line 556 of file compliant_trajectories.py.

tuple compliant_trajectories::firenze = hr.M3HrlRobot(connect=True,right_arm_settings=settings_r)

Definition at line 649 of file compliant_trajectories.py.

compliant_trajectories::firm_hook_flag = opt.firm_hook

Definition at line 549 of file compliant_trajectories.py.

compliant_trajectories::ft = opt.ft

Definition at line 553 of file compliant_trajectories.py.

compliant_trajectories::ha = opt.ha

Definition at line 552 of file compliant_trajectories.py.

string compliant_trajectories::help = 'test IK at a single position.'

Definition at line 520 of file compliant_trajectories.py.

tuple compliant_trajectories::hook_3dprint_angle = math.radians(20-2.54)

Definition at line 52 of file compliant_trajectories.py.

tuple compliant_trajectories::hook_angle = math.radians(ha)

Definition at line 623 of file compliant_trajectories.py.

compliant_trajectories::ik_single_pos_flag = opt.ik_single_pos

Definition at line 545 of file compliant_trajectories.py.

compliant_trajectories::info_string = opt.info_string

Definition at line 554 of file compliant_trajectories.py.

tuple compliant_trajectories::k = m3t.get_keystroke()

Definition at line 568 of file compliant_trajectories.py.

tuple compliant_trajectories::p = optparse.OptionParser()

Definition at line 518 of file compliant_trajectories.py.

compliant_trajectories::pull_flag = opt.pull

Definition at line 547 of file compliant_trajectories.py.

tuple compliant_trajectories::pull_loc = ut.load_pickle(pull_pos_pkl)

Definition at line 562 of file compliant_trajectories.py.

compliant_trajectories::pull_pos_pkl = opt.pull_pos_pkl

Definition at line 548 of file compliant_trajectories.py.

tuple compliant_trajectories::rot_mat = tr.Rz(hook_angle-hook_3dprint_angle)

Definition at line 625 of file compliant_trajectories.py.

compliant_trajectories::scan_flag = opt.scan

Definition at line 550 of file compliant_trajectories.py.

tuple compliant_trajectories::settings_r = hr.MekaArmSettings(stiffness_list=[0.15,0.7,0.8,0.8,0.8])

Definition at line 648 of file compliant_trajectories.py.

list compliant_trajectories::stiff_scale_list = [1.0,1.2,0.8]

Definition at line 560 of file compliant_trajectories.py.

string compliant_trajectories::strategy = strategy,pull_locpull_loc,info_stringinfo_string)

Definition at line 578 of file compliant_trajectories.py.

compliant_trajectories::test_ik_flag = opt.ik_test

Definition at line 546 of file compliant_trajectories.py.

compliant_trajectories::vary_expt_flag = opt.ve

Definition at line 555 of file compliant_trajectories.py.