Variables | |
| int | angle = 0 |
| string | arm = 'right_arm' |
| tuple | cmg |
| string | default = 'hook angle (degrees).' |
| string | dest = 'sliding_left' |
| tuple | follower |
| ft = opt.ft | |
| ha = opt.ha | |
| string | help = 'string to save in the pkl log.' |
| tuple | hl_thok0 = mcf.thok0Tglobal(hook_location) |
| tuple | hl_torso = mcf.torsoTglobal(hook_location) |
| tuple | hook_location = cmg.firenze.end_effector_pos('right_arm') |
| int | i = 0 |
| info_string = opt.info_string | |
| tuple | k = m3t.get_keystroke() |
| string | kinematics_estimation = 'jacobian' |
| lead_flag = opt.lead | |
| lpi_flag = opt.lpi | |
| mec = cmg.segway_command_node | |
| move_segway_flag = notpull_fixed_flag | |
| tuple | p = optparse.OptionParser() |
| pnum = opt.p | |
| dictionary | pose_dict = {} |
| position_number = pnum) | |
| pull_fixed_flag = opt.pull_fixed | |
| pull_left = opt.sliding_left) | |
| tuple | pull_loc = cmg.reposition_robot(hook_location) |
| list | qr = [0, 0, 0, math.pi/2, -(math.radians(ha)-ct.hook_3dprint_angle), 0, 0] |
| int | residual_angle = 0 |
| sa = opt.sa | |
| tuple | settings_lead = hr.MekaArmSettings(stiffness_list=[0.2,0.3,0.3,0.5,0.8]) |
| starting_angle = -angle | |
| tuple | starting_location = copy.copy(hl_torso) |
| string | strategy = 'control_radial_force' |
| tuple | t_begin = time.time() |
| tuple | t_end = time.time() |
| tuple | t_pull = time.time() |
| int | thresh = 2 |
| z = opt.z | |
| list | z_list = [opt.z] |
| zed = cmg.z | |
| int 2010_icra_epc_pull::hook_and_pull::angle = 0 |
Definition at line 170 of file hook_and_pull.py.
| string 2010_icra_epc_pull::hook_and_pull::arm = 'right_arm' |
Definition at line 84 of file hook_and_pull.py.
| tuple 2010_icra_epc_pull::hook_and_pull::cmg |
00001 ct.CompliantMotionGenerator(move_segway = move_segway_flag, 00002 use_right_arm = True, 00003 use_left_arm = False)
Definition at line 92 of file hook_and_pull.py.
Definition at line 47 of file hook_and_pull.py.
| string 2010_icra_epc_pull::hook_and_pull::dest = 'sliding_left' |
Definition at line 65 of file hook_and_pull.py.
| tuple 2010_icra_epc_pull::hook_and_pull::follower |
00001 lead.Lead(cmg.firenze,'right_arm',mec,zed, 00002 max_allowable_height=zed.calib['max_height'], 00003 init_height = zed.get_position_meters())
Definition at line 115 of file hook_and_pull.py.
| 2010_icra_epc_pull::hook_and_pull::ft = opt.ft |
Definition at line 76 of file hook_and_pull.py.
| 2010_icra_epc_pull::hook_and_pull::ha = opt.ha |
Definition at line 73 of file hook_and_pull.py.
Definition at line 51 of file hook_and_pull.py.
| tuple 2010_icra_epc_pull::hook_and_pull::hl_thok0 = mcf.thok0Tglobal(hook_location) |
Definition at line 166 of file hook_and_pull.py.
| tuple 2010_icra_epc_pull::hook_and_pull::hl_torso = mcf.torsoTglobal(hook_location) |
Definition at line 167 of file hook_and_pull.py.
| tuple 2010_icra_epc_pull::hook_and_pull::hook_location = cmg.firenze.end_effector_pos('right_arm') |
Definition at line 136 of file hook_and_pull.py.
| int 2010_icra_epc_pull::hook_and_pull::i = 0 |
Definition at line 156 of file hook_and_pull.py.
| float 2010_icra_epc_pull::hook_and_pull::info_string = opt.info_string |
Definition at line 77 of file hook_and_pull.py.
| tuple 2010_icra_epc_pull::hook_and_pull::k = m3t.get_keystroke() |
Definition at line 101 of file hook_and_pull.py.
| string 2010_icra_epc_pull::hook_and_pull::kinematics_estimation = 'jacobian' |
Definition at line 220 of file hook_and_pull.py.
| 2010_icra_epc_pull::hook_and_pull::lead_flag = opt.lead |
Definition at line 78 of file hook_and_pull.py.
| 2010_icra_epc_pull::hook_and_pull::lpi_flag = opt.lpi |
Definition at line 79 of file hook_and_pull.py.
| tuple 2010_icra_epc_pull::hook_and_pull::mec = cmg.segway_command_node |
Definition at line 105 of file hook_and_pull.py.
| 2010_icra_epc_pull::hook_and_pull::move_segway_flag = notpull_fixed_flag |
Definition at line 81 of file hook_and_pull.py.
| tuple 2010_icra_epc_pull::hook_and_pull::p = optparse.OptionParser() |
Definition at line 45 of file hook_and_pull.py.
| 2010_icra_epc_pull::hook_and_pull::pnum = opt.p |
Definition at line 82 of file hook_and_pull.py.
| dictionary 2010_icra_epc_pull::hook_and_pull::pose_dict = {} |
Definition at line 177 of file hook_and_pull.py.
| 2010_icra_epc_pull::hook_and_pull::position_number = pnum) |
Definition at line 172 of file hook_and_pull.py.
| 2010_icra_epc_pull::hook_and_pull::pull_fixed_flag = opt.pull_fixed |
Definition at line 80 of file hook_and_pull.py.
| 2010_icra_epc_pull::hook_and_pull::pull_left = opt.sliding_left) |
Definition at line 229 of file hook_and_pull.py.
| tuple 2010_icra_epc_pull::hook_and_pull::pull_loc = cmg.reposition_robot(hook_location) |
Definition at line 137 of file hook_and_pull.py.
| list 2010_icra_epc_pull::hook_and_pull::qr = [0, 0, 0, math.pi/2, -(math.radians(ha)-ct.hook_3dprint_angle), 0, 0] |
Definition at line 118 of file hook_and_pull.py.
| int 2010_icra_epc_pull::hook_and_pull::residual_angle = 0 |
Definition at line 213 of file hook_and_pull.py.
| 2010_icra_epc_pull::hook_and_pull::sa = opt.sa |
Definition at line 75 of file hook_and_pull.py.
| tuple 2010_icra_epc_pull::hook_and_pull::settings_lead = hr.MekaArmSettings(stiffness_list=[0.2,0.3,0.3,0.5,0.8]) |
Definition at line 112 of file hook_and_pull.py.
| 2010_icra_epc_pull::hook_and_pull::starting_angle = -angle |
Definition at line 176 of file hook_and_pull.py.
| tuple 2010_icra_epc_pull::hook_and_pull::starting_location = copy.copy(hl_torso) |
Definition at line 175 of file hook_and_pull.py.
| string 2010_icra_epc_pull::hook_and_pull::strategy = 'control_radial_force' |
Definition at line 226 of file hook_and_pull.py.
| tuple 2010_icra_epc_pull::hook_and_pull::t_begin = time.time() |
Definition at line 169 of file hook_and_pull.py.
| tuple 2010_icra_epc_pull::hook_and_pull::t_end = time.time() |
Definition at line 230 of file hook_and_pull.py.
| tuple 2010_icra_epc_pull::hook_and_pull::t_pull = time.time() |
Definition at line 224 of file hook_and_pull.py.
| int 2010_icra_epc_pull::hook_and_pull::thresh = 2 |
Definition at line 184 of file hook_and_pull.py.
Definition at line 74 of file hook_and_pull.py.
Definition at line 155 of file hook_and_pull.py.
| 2010_icra_epc_pull::hook_and_pull::zed = cmg.z |
Definition at line 110 of file hook_and_pull.py.