Public Member Functions | |
def | __init__ |
def | arm_config_to_points_list |
def | distance_from_arm |
def | distance_from_ee_along_arm |
def | FK |
def | FK_vanilla |
def | get_joint_limits |
return min_array, max_array | |
def | IK |
Computes IK for the tooltip. | |
def | IK |
def | IK_vanilla |
def | is_contact_at_joint |
def | Jacobian |
compute Jacobian at point pos. | |
def | jacobian |
compute Jacobian at point pos. | |
def | set_tooltip |
define tooltip as a 3x1 np matrix in the wrist coord frame. | |
Public Attributes | |
n_jts | |
tooltip_pos | |
tooltip_rot |
Definition at line 68 of file hrl_arm.py.
def equilibrium_point_control.hrl_arm.HRLArmKinematics.__init__ | ( | self, | |
n_jts | |||
) |
Definition at line 69 of file hrl_arm.py.
Definition at line 137 of file hrl_arm.py.
def equilibrium_point_control.hrl_arm.HRLArmKinematics.distance_from_arm | ( | self, | |
q, | |||
pt | |||
) |
Definition at line 151 of file hrl_arm.py.
def equilibrium_point_control.hrl_arm.HRLArmKinematics.distance_from_ee_along_arm | ( | self, | |
q, | |||
pt | |||
) |
Definition at line 142 of file hrl_arm.py.
def equilibrium_point_control.hrl_arm.HRLArmKinematics.FK | ( | self, | |
q, | |||
link_number = None |
|||
) |
Definition at line 81 of file hrl_arm.py.
def equilibrium_point_control.hrl_arm.HRLArmKinematics.FK_vanilla | ( | self, | |
q, | |||
link_number = None |
|||
) |
Definition at line 75 of file hrl_arm.py.
return min_array, max_array
Definition at line 124 of file hrl_arm.py.
def equilibrium_point_control.hrl_arm.HRLArmKinematics.IK | ( | self, | |
pos, | |||
rot, | |||
q_guess = None |
|||
) |
Computes IK for the tooltip.
The desired location is first transformed back into the last link's frame and IK is performed on that location.
pos | Desired link position (3x1 np matrix) |
rot | Desired link rotation (3x3 np matrix) |
q_guess | Estimate of the desired joint angles which seeds the IK solver |
Definition at line 100 of file hrl_arm.py.
def equilibrium_point_control.hrl_arm.HRLArmKinematics.IK | ( | self, | |
p, | |||
rot, | |||
q_guess = None |
|||
) |
Definition at line 111 of file hrl_arm.py.
def equilibrium_point_control.hrl_arm.HRLArmKinematics.IK_vanilla | ( | self, | |
p, | |||
rot, | |||
q_guess = None |
|||
) |
Definition at line 106 of file hrl_arm.py.
def equilibrium_point_control.hrl_arm.HRLArmKinematics.is_contact_at_joint | ( | self, | |
pt, | |||
q, | |||
dist_threshold | |||
) |
Definition at line 162 of file hrl_arm.py.
def equilibrium_point_control.hrl_arm.HRLArmKinematics.Jacobian | ( | self, | |
q, | |||
pos = None |
|||
) |
compute Jacobian at point pos.
Definition at line 116 of file hrl_arm.py.
def equilibrium_point_control.hrl_arm.HRLArmKinematics.jacobian | ( | self, | |
q, | |||
pos = None |
|||
) |
compute Jacobian at point pos.
Definition at line 120 of file hrl_arm.py.
def equilibrium_point_control.hrl_arm.HRLArmKinematics.set_tooltip | ( | self, | |
p, | |||
rot = np.matrix(np.eye(3)) |
|||
) |
define tooltip as a 3x1 np matrix in the wrist coord frame.
Definition at line 128 of file hrl_arm.py.
Definition at line 69 of file hrl_arm.py.
Definition at line 69 of file hrl_arm.py.
Definition at line 69 of file hrl_arm.py.