2010_icra_epc_pull::compliant_trajectories Namespace Reference

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

---

Function Documentation

def 2010_icra_epc_pull.compliant_trajectories.rot_mat_from_angles	(		hook,
			surface
	)

compute the end effector rotation matrix.

Parameters:

hook	- hook angle. RADIANS(0, -90, 90) (hor, up, down)
angle	- angle between robot and surface normal. Angle about the Z axis through which the robot must turn to face the surface.

Definition at line 76 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.test_elbow_angle

(

)

Definition at line 1045 of file compliant_trajectories.py.

def 2010_icra_epc_pull.compliant_trajectories.test_IK	(		arm,
			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 1025 of file compliant_trajectories.py.

---

Variable Documentation

string 2010_icra_epc_pull::compliant_trajectories::arm = 'left_arm'

Definition at line 1125 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories::camera_flag = opt.camera

Definition at line 1096 of file compliant_trajectories.py.

tuple 2010_icra_epc_pull::compliant_trajectories::cmg

Initial value:

CompliantMotionGenerator(move_segway_flag, use_right_arm,
                                           use_left_arm)

Definition at line 1131 of file compliant_trajectories.py.

string 2010_icra_epc_pull::compliant_trajectories::default = 'hook angle (degrees).'

Definition at line 1081 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories::elbow_angle_flag = opt.eaf

Definition at line 1103 of file compliant_trajectories.py.

tuple 2010_icra_epc_pull::compliant_trajectories::firenze

Initial value:

hr.M3HrlRobot(connect = True, right_arm_settings = settings_r,
                                    left_arm_settings = settings_l)

Definition at line 1187 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories::ft = opt.ft

Definition at line 1100 of file compliant_trajectories.py.

tuple 2010_icra_epc_pull::compliant_trajectories::g = cmg.reposition_robot(hook_location)

Definition at line 1142 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories::ha = opt.ha

Definition at line 1099 of file compliant_trajectories.py.

string 2010_icra_epc_pull::compliant_trajectories::help = 'test IK at a single position.'

Definition at line 1067 of file compliant_trajectories.py.

tuple 2010_icra_epc_pull::compliant_trajectories::hook_angle = math.radians(ha)

Definition at line 1146 of file compliant_trajectories.py.

tuple 2010_icra_epc_pull::compliant_trajectories::hook_location = cmg.firenze.end_effector_pos(arm)

Definition at line 1141 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories::ik_single_pos_flag = opt.ik_single_pos

Definition at line 1105 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories::info_string = opt.info_string

Definition at line 1101 of file compliant_trajectories.py.

tuple 2010_icra_epc_pull::compliant_trajectories::k = m3t.get_keystroke()

Definition at line 1135 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories::move_segway_flag = opt.ms

Definition at line 1097 of file compliant_trajectories.py.

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

Definition at line 1065 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories::pull_flag = opt.pull

Definition at line 1107 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories::reposition_flag = opt.rf

Definition at line 1104 of file compliant_trajectories.py.

tuple 2010_icra_epc_pull::compliant_trajectories::rot_mat = tr.Rz(hook_angle)

Definition at line 1139 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories::scan_flag = opt.scan

Definition at line 1095 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories::search_hook_flag = opt.search_hookorpull_flag

Definition at line 1108 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories::settings_l = hr.MekaArmSettings(stiffness_list=[0.15,0.7,0.8,0.8,0.8])

Definition at line 1180 of file compliant_trajectories.py.

tuple 2010_icra_epc_pull::compliant_trajectories::settings_r = None

Definition at line 1181 of file compliant_trajectories.py.

tuple 2010_icra_epc_pull::compliant_trajectories::surface_angle = math.radians(0.)

Definition at line 1147 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories::test_ik_flag = opt.ik_test

Definition at line 1106 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories::use_left_arm = True

Definition at line 1123 of file compliant_trajectories.py.

2010_icra_epc_pull::compliant_trajectories::use_right_arm = False

Definition at line 1124 of file compliant_trajectories.py.