compliant_trajectories.py File Reference

Go to the source code of this file.

Classes
class	2010_icra_epc_pull.compliant_trajectories.CompliantMotionGenerator
Namespaces
namespace	2010_icra_epc_pull::compliant_trajectories
Functions
def	2010_icra_epc_pull::compliant_trajectories.rot_mat_from_angles
	compute the end effector rotation matrix.
def	2010_icra_epc_pull::compliant_trajectories.test_elbow_angle
def	2010_icra_epc_pull::compliant_trajectories.test_IK
Variables
string	2010_icra_epc_pull::compliant_trajectories.arm = 'left_arm'
	2010_icra_epc_pull::compliant_trajectories.camera_flag = opt.camera
tuple	2010_icra_epc_pull::compliant_trajectories.cmg
string	2010_icra_epc_pull::compliant_trajectories.default = 'hook angle (degrees).'
	2010_icra_epc_pull::compliant_trajectories.elbow_angle_flag = opt.eaf
tuple	2010_icra_epc_pull::compliant_trajectories.firenze
	2010_icra_epc_pull::compliant_trajectories.ft = opt.ft
tuple	2010_icra_epc_pull::compliant_trajectories.g = cmg.reposition_robot(hook_location)
	2010_icra_epc_pull::compliant_trajectories.ha = opt.ha
string	2010_icra_epc_pull::compliant_trajectories.help = 'test IK at a single position.'
tuple	2010_icra_epc_pull::compliant_trajectories.hook_angle = math.radians(ha)
tuple	2010_icra_epc_pull::compliant_trajectories.hook_location = cmg.firenze.end_effector_pos(arm)
	2010_icra_epc_pull::compliant_trajectories.ik_single_pos_flag = opt.ik_single_pos
	2010_icra_epc_pull::compliant_trajectories.info_string = opt.info_string
tuple	2010_icra_epc_pull::compliant_trajectories.k = m3t.get_keystroke()
	2010_icra_epc_pull::compliant_trajectories.move_segway_flag = opt.ms
tuple	2010_icra_epc_pull::compliant_trajectories.p = optparse.OptionParser()
	2010_icra_epc_pull::compliant_trajectories.pull_flag = opt.pull
	2010_icra_epc_pull::compliant_trajectories.reposition_flag = opt.rf
tuple	2010_icra_epc_pull::compliant_trajectories.rot_mat = tr.Rz(hook_angle)
	2010_icra_epc_pull::compliant_trajectories.scan_flag = opt.scan
	2010_icra_epc_pull::compliant_trajectories.search_hook_flag = opt.search_hookorpull_flag
tuple	2010_icra_epc_pull::compliant_trajectories.settings_l = hr.MekaArmSettings(stiffness_list=[0.15,0.7,0.8,0.8,0.8])
	2010_icra_epc_pull::compliant_trajectories.settings_r = None
tuple	2010_icra_epc_pull::compliant_trajectories.surface_angle = math.radians(0.)
	2010_icra_epc_pull::compliant_trajectories.test_ik_flag = opt.ik_test
	2010_icra_epc_pull::compliant_trajectories.use_left_arm = True
	2010_icra_epc_pull::compliant_trajectories.use_right_arm = False