Public Member Functions | Public Attributes
2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator Class Reference

List of all members.

Public Member Functions

def __init__
def common_stopping_conditions
def compliant_motion
def equi_generator_surface_follow
 move along a vertical surface while maintaining a small for on it.
def equi_pt_generator_control_radial_force
 constantly update the estimate of the kinematics and move the equilibrium point along the tangent of the estimated arc, and try to keep the radial force constant.
def image_region
def log_state
 log the joint angles, equi pt joint angles and forces.
def mechanism_kinematics_rot_cb
def movement_posture
def pull
 assumes: 1) already hooked onto mechanism.
def reposition_robot
 move the robot so that hooking location is at a better position relative to the robot.
def save_frame
def scan_3d
def search_and_hook
 behavior to search around the hook_loc to try and get a good hooking grasp
def segway_motion_local
def segway_mover
def set_camera_settings
def stop
def update_eq_point

Public Attributes

 bndry
 cam
 cartesian_pts_list
 constraint_vec_1_ts
 constraint_vec_2_ts
 cx_start
 cy_start
 cz_start
 dist_boundary
 eq_force_threshold
 eq_motion_vec
 eq_pt_cartesian
 eq_pt_cartesian_ts
 eq_pt_close_to_bndry
 eq_pt_not_moving_counter
 eq_pt_trajectory
 f_rad_list
 f_tan_list
 firenze
 fit_circle_lock
 force_trajectory
 ftan_threshold
 hok
 hooked_location_moved
 init_tangent_vector
 jt_torque_trajectory
 mech_kinematics_lock
 mech_time_list
 mech_traj_pub
 mech_x_list
 move_segway_flag
 move_segway_lock
 new_segway_command
 open_ang_exceed_count
 prev_force_mag
 pull_trajectory
 q_guess
 rad
 rad_vec_list
 run_fit_circle_thread
 run_move_segway_thread
 segway_command_node
 segway_motion_tup
 segway_pose
 segway_trajectory
 slip_count
 start_pos
 tan_vec_list
 tangential_vec_ts
 thok
 torque_trajectory
 use_jacobian
 use_rotation_center
 vec_bndry
 wkd
 workspace_dict
 wrkspc_pts
 z
 zenither_client
 zenither_list
 zenither_moving

Detailed Description

a specific form of compliant motion.
    class name might be inappropriate.

Definition at line 82 of file compliant_trajectories.py.

Constructor & Destructor Documentation

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.__init__ (   self,
  move_segway = False,
  use_right_arm = True,
  use_left_arm = True,
  set_wrist_theta_gc = False,
  end_effector_length = 0.12818 
)
Parameters:
move_segway- if True then move the segway while pulling.

Definition at line 89 of file compliant_trajectories.py.

Member Function Documentation

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.common_stopping_conditions (   self)

Definition at line 356 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.compliant_motion (   self,
  equi_pt_generator,
  time_step,
  arm,
  arg_list,
  record = False,
  rapid_call_func = None 
)
Parameters:
equi_pt_generator,:function that returns stop, q where q: list of 7 joint angles and stop: string which is '' for compliant motion to continue
rapid_call_func,:called in the time between calls to the equi_pt_generator can be used for logging, safety etc. returns string which is '' for compliant motion to continue
time_step,:time between successive calls to equi_pt_generator
arg_list- list of arguments to be passed to the equi_pt_generator
Returns:
stop (the string which has the reason why the compliant motion stopped.), JEP (last commanded JEP)

Definition at line 256 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.equi_generator_surface_follow (   self,
  arm,
  move_dir,
  rot_mat,
  force_threshold 
)

move along a vertical surface while maintaining a small for on it.

NOTE: stopping conditions assume we are trying to hook onto a handle.

Parameters:
arm- 'left_arm' or 'right_arm'
move_dir- direction along which the end effector moves. (3x1 np matrix in tl frame)
rot_mat- matrix that defines the end effector orientation. It transforms points in torso frame to end effector frame.

Definition at line 797 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.equi_pt_generator_control_radial_force (   self,
  arm,
  rot_mat,
  h_force_possible,
  v_force_possible,
  cep_vel 
)

constantly update the estimate of the kinematics and move the equilibrium point along the tangent of the estimated arc, and try to keep the radial force constant.

Parameters:
h_force_possible- True (hook side) or False (hook up).
v_force_possible- False (hook side) or True (hook up). Is maintaining a radial force possible or not (based on hook geometry and orientation)
cep_vel- tangential velocity of the cep in m/s

Definition at line 553 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.image_region (   self) 
takes images from the UTM camera at different angles.
    returns list of servo angles, list of images.
    images are numpy images. so that they can be pickled.

Definition at line 1007 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.log_state (   self,
  arm 
)

log the joint angles, equi pt joint angles and forces.

Definition at line 316 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.mechanism_kinematics_rot_cb (   self,
  mk 
)

Definition at line 455 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.movement_posture (   self)

Definition at line 163 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.pull (   self,
  arm,
  hook_angle,
  surface_angle,
  force_threshold,
  jep,
  use_utm = False,
  use_camera = False,
  strategy = 'line_neg_x',
  info_string = '',
  cep_vel = 0.1,
  kinematics_estimation = 'rotation_center',
  pull_left = False 
)

assumes: 1) already hooked onto mechanism.

Parameters:
arm- 'left_arm' or 'right_arm'
hook_angle- RADIANS(0, -90, 90) (hor, up, down)
surface_angle- see rot_mat_from_angles
force_threshold- max force at which to stop pulling.
jep- last commanded JEP.
use_utm- to take 3D scans or not.
use_camera- to take pictures from the camera or not.
strategy- 'line_neg_x': move CEP along -x axis. 'control_radial_force': try and keep the radial force constant
info_string- string saved with key 'info' in the pkl.
cep_vel- tangential velocity of the cep in m/s
kinematics_estimation- 'rotation_center' or 'jacobian'
pull_left- UBER ADHOC. trying to specify initial motion direction (Advait, Feb 28. 2:50am)

Definition at line 836 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.reposition_robot (   self,
  hook_location,
  turn_angle,
  hook_angle,
  position_number = 2 
)

move the robot so that hooking location is at a better position relative to the robot.

Parameters:
hook_location- 3x1 np matrix (in torso coord frame)
turn_angle- angle (in RADIANS) through which the segway should rotate.
hook_angle- angle of the hook. (to determine good height)
Returns:
new hooking location (3x1) in torso coord frame.

Definition at line 183 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.save_frame (   self)

Definition at line 1003 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.scan_3d (   self)

Definition at line 998 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.search_and_hook (   self,
  arm,
  hook_angle,
  hook_loc,
  angle,
  hooking_force_threshold = 5. 
)

behavior to search around the hook_loc to try and get a good hooking grasp

Parameters:
arm- 'right_arm' or 'left_arm'
hook_angle- radians(0,-90,90) side,up,down
hook_loc- 3x1 np matrix
angle- angle between torso x axis and surface normal.
Returns:
s, jep (stopping string and last commanded JEP)

Definition at line 753 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.segway_motion_local (   self,
  curr_pos_tl,
  sa 
)

Definition at line 464 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.segway_mover (   self)

Definition at line 428 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.set_camera_settings (   self)

Definition at line 243 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.stop (   self)

Definition at line 168 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator.update_eq_point (   self,
  arm,
  motion_vec,
  step_size,
  rot_mat 
)
Parameters:
arm- 'right_arm' or 'left_arm'
motionvec is in tl frame.
step_size- distance (meters) through which CEP should move
rot_mat- rotation matrix for IK
Returns:
JEP

Definition at line 401 of file compliant_trajectories.py.

Member Data Documentation

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::bndry

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::cam

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::cartesian_pts_list

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::constraint_vec_1_ts

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::constraint_vec_2_ts

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::cx_start

Definition at line 455 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::cy_start

Definition at line 455 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::cz_start

Definition at line 455 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::dist_boundary

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::eq_force_threshold

Definition at line 557 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::eq_motion_vec

Definition at line 464 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::eq_pt_cartesian

Definition at line 401 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::eq_pt_cartesian_ts

Definition at line 401 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::eq_pt_close_to_bndry

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::eq_pt_not_moving_counter

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::eq_pt_trajectory

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::f_rad_list

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::f_tan_list

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::firenze

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::fit_circle_lock

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::force_trajectory

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::ftan_threshold

Definition at line 557 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::hok

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::hooked_location_moved

Definition at line 557 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::init_tangent_vector

Definition at line 553 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::jt_torque_trajectory

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::mech_kinematics_lock

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::mech_time_list

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::mech_traj_pub

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::mech_x_list

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::move_segway_flag

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::move_segway_lock

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::new_segway_command

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::open_ang_exceed_count

Definition at line 557 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::prev_force_mag

Definition at line 553 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::pull_trajectory

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::q_guess

Definition at line 356 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::rad

Definition at line 455 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::rad_vec_list

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::run_fit_circle_thread

Definition at line 168 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::run_move_segway_thread

Definition at line 168 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::segway_command_node

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::segway_motion_tup

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::segway_pose

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::segway_trajectory

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::slip_count

Definition at line 356 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::start_pos

Definition at line 753 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::tan_vec_list

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::tangential_vec_ts

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::thok

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::torque_trajectory

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::use_jacobian

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::use_rotation_center

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::vec_bndry

Definition at line 464 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::wkd

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::workspace_dict

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::wrkspc_pts

Definition at line 836 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::z

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::zenither_client

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::zenither_list

Definition at line 89 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories.CompliantMotionGenerator::zenither_moving

Definition at line 89 of file compliant_trajectories.py.

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

2010_icra_epc_pull
Author(s): Advait Jain, Charles C. Kemp (Healthcare Robotics Lab, Georgia Tech)
autogenerated on Wed Nov 27 2013 12:14:43