Namespaces |
| namespace | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar |
Variables |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.b_jt_anchor |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.b_jt_attach = [[0, -1], [1, 0], [2,1], [3,2]] |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.b_jt_axis = [[0.,0.,1.],[0.,0.,1.], [0.,0.,1.], [0.,0.,1.]] |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.b_jt_kd = [10.0, 7.0, 4.0, 1.8] |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.b_jt_kp = [30., 20., 13., 6.] |
| tuple | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.b_jt_limits_max = np.radians([180, 120, 120, 120]) |
| tuple | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.b_jt_limits_min = np.radians([-180, -120, -120, -120]) |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.b_jt_start = [-1.88, 1.09, 1.63, 1.15] |
| dictionary | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.b_jts |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.bod_color = [[0.4, 0.4, 0.4, 1], [0.8, 0.8, 0.8, 1], [0.33, 0.33, 0.33, 1], [0.5, 0.5, 0.5, 1]] |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.bod_com_position |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.bod_dimensions = [[0.03, 0.03, link_length]] |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.bod_mass = [link_mass] |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.bod_names = ['link1', 'link2', 'link3', 'link4'] |
| int | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.bod_num_links = 4 |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.bod_shapes = ['capsule', 'capsule', 'capsule', 'capsule'] |
| dictionary | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.bodies |
| tuple | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.ee_location = np.matrix([0., -total_length, height]) |
| | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.link_length = total_length/num_links |
| | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.link_mass = total_mass/num_links |
| float | hrl_common_code_darpa_m3::robot_config::multi_link_four_planar.num_links = 4.0 |