Classes | Functions | Variables
2010_icra_epc_pull::arm_trajectories Namespace Reference

Classes

class  CartesianTajectory
class  ForceTrajectory
class  JointTrajectory
class  PlanarTajectory
 class to store trajectory of a coord frame executing planar motion (x,y,a) data only - use for pickling More...

Functions

def account_segway_motion
 changes the cartesian trajectory to put everything in the same frame.
def account_zenithering
def compute_forces
 compute the force that the arm would apply given the stiffness matrix
def compute_radial_tangential_forces
 return two lists containing the radial and tangential components of the forces.
def filter_cartesian_trajectory
 remove the parts of the trjectory in which the hook is not moving.
def filter_trajectory_force
 remove the parts of the trjectory in which the hook slipped off
def fit_circle
 find the x and y coord of the center of the circle and the radius that best matches the data.
def joint_to_cartesian
def plot_cartesian
def plot_forces_quiver

Variables

tuple actual_cartesian = account_segway_motion(actual_cartesian_tl,d['segway'])
tuple actual_cartesian_tl = joint_to_cartesian(d['actual'])
string addon = ''
float alpha = 0.7
tuple angle = math.atan2(y_diff,x_diff)
list arm_stiffness_list = d['stiffness']
list asl = [min(scale*s,1.0) for s in arm_stiffness_list]
string axis = 'equal'
tuple c_ts = np.matrix([cx, cy, 0.])
tuple cep_2d = np.matrix(cep_force_clean.p_list)
list cep_2d_s = cep_2d[:,::subsample_ratio]
list cep_2d_zoom = cep_2d[:,:zoom_location]
list cep_text = cep_2d_zoom[:,-1]
string color = 'y'
tuple curr_size = f.get_size_inches()
list current_pos = pts_2d_zoom[:,-1]
int cx = 45
float cy = 0.3
tuple d = ut.load_pickle(fname)
string dest = 'icra_presentation_plot'
list ee_start_pos = pts_list[0]
tuple end_angle
list end_pt = pts2d_actual_t[:,-1]
tuple eq_cartesian = account_segway_motion(eq_cartesian_tl, d['segway'])
tuple eq_cartesian_tl = joint_to_cartesian(d['eq_pt'])
 eq_pts_list = eq_cartesian.p_list
 expt_plot = opt.exptplot
tuple f = pl.gcf()
list fig_name = str_parts[0]
 fname = opt.fname
int fontsize = 15
list force_list = d['force']
tuple frad = (wrist_force[0:2,:].T * radial_vec)
tuple frad_text = rad_text_loc+np.matrix([0.,0.015])
string help = 'pkl file to use.'
tuple hook_force_motion = -(frad - 5)
list hw_text = cep_2d_zoom[:,-1]
int i = 0
string interval = 'r'
string label = 'Actual\_opt'
float marker_edge_width = 1.5
string method = 'fmin_bfgs'
list mw_text = cep_2d_zoom[:,-1]
list new_cep = cep_2d_zoom[:,-1]
tuple p = optparse.OptionParser()
 p_list = actual_cartesian.p_list
 plot_ellipses_flag = opt.plot_ellipses
 plot_ellipses_vary_flag = opt.pev
 plot_force_components_flag = opt.pfc
 plot_force_field_flag = opt.pff
 plot_forces_error_flag = opt.plot_forces_error
 plot_forces_flag = opt.plot_forces
 plot_mechanism_frame = opt.pmf
tuple pts2d_actual = (np.matrix(actual_cartesian.p_list).T)
tuple pts2d_actual_t = rot_mat*(pts2d_actual - translation_mat)
list pts_2d_s = pts_2d[:,::subsample_ratio]
list pts_2d_zoom = pts_2d[:,:zoom_location]
 pts_list = actual_cartesian.p_list
 rad = opt.rad
 rad_guess = rad
list rad_text_loc = pts_2d_zoom[:,-1]
tuple radial_vec = current_pos-np.matrix([cx,cy])
list ratio_list1 = [0.1,0.3,0.5,0.7,0.9]
list ratio_list2 = [0.1,0.3,0.5,0.7,0.9]
list ratio_list3 = [0.1,0.3,0.5,0.7,0.9]
tuple robot_mat = rot_mat*(np.matrix([robot_x_list,robot_y_list]) - translation_mat)
list robot_x_list = [-robot_width/2,-robot_width/2,robot_width/2,robot_width/2,-robot_width/2]
list robot_y_list = [-robot_length/2,robot_length/2,robot_length/2,-robot_length/2,-robot_length/2]
tuple rot_mat = tr.Rz(angle)
string s = '$h[t]$ = $0.1cm/N \cdot (|\hat{F}_{rad}|-5N) \cdot \hat{v}_{rad}$'
float s0 = 0.2
list s_list = [s0,s1,s2,s3,0.8]
list s_scale = d['stiffness']
list scale = d['stiffness']
int scatter_size = 7
tuple show_fig = not(opt.noshow)
list sl = [min(s*s_scale,1.0) for s in s_list]
list st_pt = pts_2d[:,0]
tuple start_angle
list start_pt = actual_cartesian.p_list[0]
tuple str_parts = fname.split('.')
tuple sturm_file = open(sturm_file_name,'w')
list sturm_file_name = str_parts[0]
 sturm_output = opt.sturm
 sturm_pts = cartesian_force_clean.p_list
int subplotnum = 234
int subsample_ratio = 1
list tan_text_loc = pts_2d_zoom[:,-1]
float tangential_motion = 0.01
tuple tangential_vec = np.matrix([[0,-1],[1,0]])
list time_dict = d['time_dict']
list time_list = d['force']
 total_cep_motion = hook_force_motion+tangential_motion
tuple translation_mat = np.matrix([cx,cy])
tuple wf_text = rad_text_loc+np.matrix([-0.05,0.015])
tuple wrist_force = -np.matrix(force_new.f_list[zoom_location])
tuple x_coord_list = np.matrix(p_list)
list x_diff = start_pt[0]
list x_guess = ee_start_pos[0]
 xy_flag = opt.xy
 xyz_flag = opt.xyz
 xz_flag = opt.xz
list y_diff = start_pt[1]
list y_guess = ee_start_pos[1]
 yz_flag = opt.yz
int zoom_location = 10

Function Documentation

def 2010_icra_epc_pull.arm_trajectories.account_segway_motion (   cart_traj,
  st 
)

changes the cartesian trajectory to put everything in the same frame.

NOTE - velocity transformation does not work if the segway is also moving. This is because I am not logging the velocity of the segway.

Parameters:
pts- CartesianTajectory
st- object of type PlanarTajectory (segway trajectory)
Returns:
CartesianTajectory

Definition at line 314 of file arm_trajectories.py.

def 2010_icra_epc_pull.arm_trajectories.account_zenithering (   cart_traj,
  z_l 
)

Definition at line 337 of file arm_trajectories.py.

def 2010_icra_epc_pull.arm_trajectories.compute_forces (   q_actual_traj,
  q_eq_traj,
  torque_traj,
  rel_stiffness_list 
)

compute the force that the arm would apply given the stiffness matrix

Parameters:
q_actual_traj- Joint Trajectory (actual angles.)
q_eq_traj- Joint Trajectory (equilibrium point angles.)
torque_traj- JointTrajectory (torques measured at the joints.)
rel_stiffness_list- list of 5 elements (stiffness numbers for the joints.)
Returns:
lots of things, look at the code.

Definition at line 190 of file arm_trajectories.py.

def 2010_icra_epc_pull.arm_trajectories.compute_radial_tangential_forces (   f_list,
  p_list,
  cx,
  cy 
)

return two lists containing the radial and tangential components of the forces.

Parameters:
f_list- list of forces. (each force is a list of 2 or 3 floats)
p_list- list of positions. (each position is a list of 2 or 3 floats)
cx- x coord of the center of the circle.
cy- y coord of the center of the circle.
Returns:
list of magnitude of radial component, list of magnitude tangential component.

Definition at line 245 of file arm_trajectories.py.

def 2010_icra_epc_pull.arm_trajectories.filter_cartesian_trajectory (   ct)

remove the parts of the trjectory in which the hook is not moving.

Parameters:
ct- cartesian trajectory of the end effector in the world frame.
Returns:
2xN np matrix, reject_idx

Definition at line 359 of file arm_trajectories.py.

def 2010_icra_epc_pull.arm_trajectories.filter_trajectory_force (   ct,
  ft 
)

remove the parts of the trjectory in which the hook slipped off

Parameters:
ct- cartesian trajectory of the end effector in the world frame.
ft- force trajectory
Returns:
cartesian trajectory with the zero force end part removed, force trajectory

Definition at line 382 of file arm_trajectories.py.

def 2010_icra_epc_pull.arm_trajectories.fit_circle (   rad_guess,
  x_guess,
  y_guess,
  pts,
  method,
  verbose = True 
)

find the x and y coord of the center of the circle and the radius that best matches the data.

Parameters:
rad_guess- guess for the radius of the circle
x_guess- guess for x coord of center
y_guess- guess for y coord of center.
pts- 2xN np matrix of points.
method- optimization method. ('fmin' or 'fmin_bfgs')
verbose- passed onto the scipy optimize functions. whether to print out the convergence info.
Returns:
r,x,y (radius, x and y coord of the center of the circle)

Definition at line 269 of file arm_trajectories.py.

def 2010_icra_epc_pull.arm_trajectories.joint_to_cartesian (   traj)
Parameters:
traj- JointTrajectory
Returns:
CartesianTajectory after performing FK on traj to compute cartesian position, velocity

Definition at line 92 of file arm_trajectories.py.

def 2010_icra_epc_pull.arm_trajectories.plot_cartesian (   traj,
  xaxis = None,
  yaxis = None,
  zaxis = None,
  color = 'b',
  label = '_nolegend_',
  linewidth = 2,
  scatter_size = 10,
  plot_velocity = False 
)
Parameters:
xaxis- x axis for the graph (0,1 or 2)
zaxis- for a 3d plot. not implemented.

Definition at line 135 of file arm_trajectories.py.

def 2010_icra_epc_pull.arm_trajectories.plot_forces_quiver (   pos_traj,
  force_traj,
  color = 'k' 
)

Definition at line 114 of file arm_trajectories.py.

Variable Documentation

tuple 2010_icra_epc_pull::arm_trajectories::actual_cartesian = account_segway_motion(actual_cartesian_tl,d['segway'])

Definition at line 522 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::actual_cartesian_tl = joint_to_cartesian(d['actual'])

Definition at line 521 of file arm_trajectories.py.

string 2010_icra_epc_pull::arm_trajectories::addon = ''

Definition at line 889 of file arm_trajectories.py.

float 2010_icra_epc_pull::arm_trajectories::alpha = 0.7

Definition at line 614 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::angle = math.atan2(y_diff,x_diff)

Definition at line 753 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::arm_stiffness_list = d['stiffness']

Definition at line 833 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::asl = [min(scale*s,1.0) for s in arm_stiffness_list]

Definition at line 835 of file arm_trajectories.py.

string 2010_icra_epc_pull::arm_trajectories::axis = 'equal'

Definition at line 731 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::c_ts = np.matrix([cx, cy, 0.])

Definition at line 567 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::cep_2d = np.matrix(cep_force_clean.p_list)

Definition at line 597 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::cep_2d_s = cep_2d[:,::subsample_ratio]

Definition at line 606 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::cep_2d_zoom = cep_2d[:,:zoom_location]

Definition at line 625 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::cep_text = cep_2d_zoom[:,-1]

Definition at line 722 of file arm_trajectories.py.

string 2010_icra_epc_pull::arm_trajectories::color = 'y'

Definition at line 678 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::curr_size = f.get_size_inches()

Definition at line 900 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::current_pos = pts_2d_zoom[:,-1]

Definition at line 654 of file arm_trajectories.py.

int 2010_icra_epc_pull::arm_trajectories::cx = 45

Definition at line 858 of file arm_trajectories.py.

float 2010_icra_epc_pull::arm_trajectories::cy = 0.3

Definition at line 859 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::d = ut.load_pickle(fname)

Definition at line 520 of file arm_trajectories.py.

string 2010_icra_epc_pull::arm_trajectories::dest = 'icra_presentation_plot'

Definition at line 454 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::ee_start_pos = pts_list[0]

Definition at line 542 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::end_angle
Initial value:
00001 tr.angle_within_mod180(math.atan2(pts_2d[-1,1]-cy,
00002                                pts_2d[-1,0]-cx) - math.pi/2)

Definition at line 570 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::end_pt = pts2d_actual_t[:,-1]

Definition at line 769 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::eq_cartesian = account_segway_motion(eq_cartesian_tl, d['segway'])

Definition at line 528 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::eq_cartesian_tl = joint_to_cartesian(d['eq_pt'])

Definition at line 527 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::eq_pts_list = eq_cartesian.p_list

Definition at line 541 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::expt_plot = opt.exptplot

Definition at line 472 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::f = pl.gcf()

Definition at line 899 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::fig_name = str_parts[0]

Definition at line 779 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::fname = opt.fname

Definition at line 458 of file arm_trajectories.py.

int 2010_icra_epc_pull::arm_trajectories::fontsize = 15

Definition at line 681 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::force_list = d['force']

Definition at line 546 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::frad = (wrist_force[0:2,:].T * radial_vec)

Definition at line 674 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::frad_text = rad_text_loc+np.matrix([0.,0.015])

Definition at line 687 of file arm_trajectories.py.

string 2010_icra_epc_pull::arm_trajectories::help = 'pkl file to use.'

Definition at line 422 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::hook_force_motion = -(frad - 5)

Definition at line 695 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::hw_text = cep_2d_zoom[:,-1]

Definition at line 702 of file arm_trajectories.py.

int 2010_icra_epc_pull::arm_trajectories::i = 0

Definition at line 478 of file arm_trajectories.py.

string 2010_icra_epc_pull::arm_trajectories::interval = 'r'

Definition at line 616 of file arm_trajectories.py.

string 2010_icra_epc_pull::arm_trajectories::label = 'Actual\_opt'

Definition at line 573 of file arm_trajectories.py.

float 2010_icra_epc_pull::arm_trajectories::marker_edge_width = 1.5

Definition at line 604 of file arm_trajectories.py.

string 2010_icra_epc_pull::arm_trajectories::method = 'fmin_bfgs'

Definition at line 566 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::mw_text = cep_2d_zoom[:,-1]

Definition at line 712 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::new_cep = cep_2d_zoom[:,-1]

Definition at line 729 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::p = optparse.OptionParser()

Definition at line 420 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::p_list = actual_cartesian.p_list

Definition at line 857 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::plot_ellipses_flag = opt.plot_ellipses

Definition at line 463 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::plot_ellipses_vary_flag = opt.pev

Definition at line 471 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::plot_force_components_flag = opt.pfc

Definition at line 465 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::plot_force_field_flag = opt.pff

Definition at line 466 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::plot_forces_error_flag = opt.plot_forces_error

Definition at line 464 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::plot_forces_flag = opt.plot_forces

Definition at line 462 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::plot_mechanism_frame = opt.pmf

Definition at line 467 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::pts2d_actual = (np.matrix(actual_cartesian.p_list).T)

Definition at line 764 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::pts2d_actual_t = rot_mat*(pts2d_actual - translation_mat)

Definition at line 765 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::pts_2d_s = pts_2d[:,::subsample_ratio]

Definition at line 593 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::pts_2d_zoom = pts_2d[:,:zoom_location]

Definition at line 624 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::pts_list = actual_cartesian.p_list

Definition at line 540 of file arm_trajectories.py.

float 2010_icra_epc_pull::arm_trajectories::rad = opt.rad

Definition at line 469 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::rad_guess = rad

Definition at line 564 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::rad_text_loc = pts_2d_zoom[:,-1]

Definition at line 661 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::radial_vec = current_pos-np.matrix([cx,cy])

Definition at line 655 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::ratio_list1 = [0.1,0.3,0.5,0.7,0.9]

Definition at line 479 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::ratio_list2 = [0.1,0.3,0.5,0.7,0.9]

Definition at line 480 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::ratio_list3 = [0.1,0.3,0.5,0.7,0.9]

Definition at line 481 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::robot_mat = rot_mat*(np.matrix([robot_x_list,robot_y_list]) - translation_mat)

Definition at line 760 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::robot_x_list = [-robot_width/2,-robot_width/2,robot_width/2,robot_width/2,-robot_width/2]

Definition at line 758 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::robot_y_list = [-robot_length/2,robot_length/2,robot_length/2,-robot_length/2,-robot_length/2]

Definition at line 759 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::rot_mat = tr.Rz(angle)

Definition at line 754 of file arm_trajectories.py.

string 2010_icra_epc_pull::arm_trajectories::s = '$h[t]$ = $0.1cm/N \cdot (|\hat{F}_{rad}|-5N) \cdot \hat{v}_{rad}$'

Definition at line 704 of file arm_trajectories.py.

float 2010_icra_epc_pull::arm_trajectories::s0 = 0.2

Definition at line 491 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::s_list = [s0,s1,s2,s3,0.8]

Definition at line 497 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::s_scale = d['stiffness']

Definition at line 792 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::scale = d['stiffness']

Definition at line 834 of file arm_trajectories.py.

int 2010_icra_epc_pull::arm_trajectories::scatter_size = 7

Definition at line 603 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::show_fig = not(opt.noshow)

Definition at line 470 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::sl = [min(s*s_scale,1.0) for s in s_list]

Definition at line 793 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::st_pt = pts_2d[:,0]

Definition at line 805 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::start_angle
Initial value:
00001 tr.angle_within_mod180(math.atan2(pts_2d[0,1]-cy,
00002                                pts_2d[0,0]-cx) - math.pi/2)

Definition at line 568 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::start_pt = actual_cartesian.p_list[0]

Definition at line 750 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::str_parts = fname.split('.')

Definition at line 549 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::sturm_file = open(sturm_file_name,'w')

Definition at line 552 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::sturm_file_name = str_parts[0]

Definition at line 550 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::sturm_output = opt.sturm

Definition at line 473 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::sturm_pts = cartesian_force_clean.p_list

Definition at line 553 of file arm_trajectories.py.

int 2010_icra_epc_pull::arm_trajectories::subplotnum = 234

Definition at line 846 of file arm_trajectories.py.

int 2010_icra_epc_pull::arm_trajectories::subsample_ratio = 1

Definition at line 592 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::tan_text_loc = pts_2d_zoom[:,-1]

Definition at line 667 of file arm_trajectories.py.

float 2010_icra_epc_pull::arm_trajectories::tangential_motion = 0.01

Definition at line 696 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::tangential_vec = np.matrix([[0,-1],[1,0]])

Definition at line 657 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::time_dict = d['time_dict']

Definition at line 796 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::time_list = d['force']

Definition at line 866 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::total_cep_motion = hook_force_motion+tangential_motion

Definition at line 697 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::translation_mat = np.matrix([cx,cy])

Definition at line 755 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::wf_text = rad_text_loc+np.matrix([-0.05,0.015])

Definition at line 679 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::wrist_force = -np.matrix(force_new.f_list[zoom_location])

Definition at line 673 of file arm_trajectories.py.

tuple 2010_icra_epc_pull::arm_trajectories::x_coord_list = np.matrix(p_list)

Definition at line 868 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::x_diff = start_pt[0]

Definition at line 751 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::x_guess = ee_start_pos[0]

Definition at line 543 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::xy_flag = opt.xy

Definition at line 459 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::xyz_flag = opt.xyz

Definition at line 468 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::xz_flag = opt.xz

Definition at line 461 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::y_diff = start_pt[1]

Definition at line 752 of file arm_trajectories.py.

list 2010_icra_epc_pull::arm_trajectories::y_guess = ee_start_pos[1]

Definition at line 544 of file arm_trajectories.py.

2010_icra_epc_pull::arm_trajectories::yz_flag = opt.yz

Definition at line 460 of file arm_trajectories.py.

int 2010_icra_epc_pull::arm_trajectories::zoom_location = 10

Definition at line 623 of file arm_trajectories.py.


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