hrl_pr2_kinematics_tutorials.door_epc.Door_EPC Class Reference

Inheritance diagram for hrl_pr2_kinematics_tutorials.door_epc.Door_EPC:

List of all members.

Public Member Functions
def	__init__
def	common_stopping_conditions
def	eqpt_gen_control_radial_force
	constantly update the estimate of the kinematics and move the equilibrium point along the tangent of the estimated arc, and try to keep the radial force constant.
def	log_state
	log the joint angles, equi pt joint angles and forces.
def	pull
def	search_and_hook
	behavior to search around the hook_loc to try and get a good hooking grasp
def	update_eq_point
Public Attributes
	cartesian_pts_list
	constraint_vec_1_ts
	constraint_vec_2_ts
	cx_start
	cy_start
	cz_start
	eq_force_threshold
	eq_motion_vec
	eq_pt_cartesian
	eq_pt_cartesian_ts
	eq_pt_not_moving_counter
	eq_pt_trajectory
	f_rad_list
	f_tan_list
	fit_circle_lock
	force_trajectory
	ftan_threshold
	hooked_location_moved
	init_tangent_vector
	mech_kinematics_lock
	mech_time_list
	mech_traj_pub
	mech_x_list
	open_ang_exceed_count
	prev_force_mag
	pull_trajectory
	q_guess
	rad
	rad_vec_list
	slip_count
	start_pos
	tan_vec_list
	tangential_vec_ts
	use_jacobian
	use_rotation_center

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Detailed Description

Definition at line 24 of file door_epc.py.

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Constructor & Destructor Documentation

def hrl_pr2_kinematics_tutorials.door_epc.Door_EPC.__init__	(		self,
			robot
	)

Reimplemented from hrl_pr2_kinematics_tutorials.epc.EPC.

Definition at line 25 of file door_epc.py.

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Member Function Documentation

def hrl_pr2_kinematics_tutorials.door_epc.Door_EPC.common_stopping_conditions

(

self

)

Definition at line 71 of file door_epc.py.

def hrl_pr2_kinematics_tutorials.door_epc.Door_EPC.eqpt_gen_control_radial_force	(		self,
			arm,
			rot_mat,
			h_force_possible,
			v_force_possible,
			cep_vel
	)

constantly update the estimate of the kinematics and move the equilibrium point along the tangent of the estimated arc, and try to keep the radial force constant.

Parameters:

h_force_possible	- True (hook side) or False (hook up).
v_force_possible	- False (hook side) or True (hook up). Is maintaining a radial force possible or not (based on hook geometry and orientation)
cep_vel	- tangential velocity of the cep in m/s

Definition at line 103 of file door_epc.py.

def hrl_pr2_kinematics_tutorials.door_epc.Door_EPC.log_state	(		self,
			arm
	)

log the joint angles, equi pt joint angles and forces.

Definition at line 41 of file door_epc.py.

def hrl_pr2_kinematics_tutorials.door_epc.Door_EPC.pull	(		self,
			arm,
			hook_angle,
			force_threshold,
			ea,
			kinematics_estimation = 'rotation_center',
			pull_left = False
	)

Definition at line 238 of file door_epc.py.

def hrl_pr2_kinematics_tutorials.door_epc.Door_EPC.search_and_hook	(		self,
			arm,
			hook_angle,
			hook_loc,
			angle,
			hooking_force_threshold = 5.
	)

behavior to search around the hook_loc to try and get a good hooking grasp

Parameters:

arm	- 'right_arm' or 'left_arm'
hook_angle	- radians(0,-90,90) side,up,down
hook_loc	- 3x1 np matrix
angle	- angle between torso x axis and surface normal.

Returns:

s, jep (stopping string and last commanded JEP)

Definition at line 347 of file door_epc.py.

def hrl_pr2_kinematics_tutorials.door_epc.Door_EPC.update_eq_point	(		self,
			arm,
			motion_vec,
			step_size,
			rot_mat
	)

Parameters:

arm	- 'right_arm' or 'left_arm'
motion	vec is in tl frame.
step_size	- distance (meters) through which CEP should move
rot_mat	- rotation matrix for IK

Returns:

JEP

Definition at line 62 of file door_epc.py.

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Member Data Documentation

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::cartesian_pts_list

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::constraint_vec_1_ts

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::constraint_vec_2_ts

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::cx_start

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::cy_start

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::cz_start

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::eq_force_threshold

Definition at line 103 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::eq_motion_vec

Definition at line 103 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::eq_pt_cartesian

Definition at line 62 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::eq_pt_cartesian_ts

Definition at line 62 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::eq_pt_not_moving_counter

Definition at line 25 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::eq_pt_trajectory

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::f_rad_list

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::f_tan_list

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::fit_circle_lock

Definition at line 25 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::force_trajectory

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::ftan_threshold

Definition at line 103 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::hooked_location_moved

Definition at line 103 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::init_tangent_vector

Definition at line 103 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::mech_kinematics_lock

Definition at line 25 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::mech_time_list

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::mech_traj_pub

Definition at line 25 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::mech_x_list

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::open_ang_exceed_count

Definition at line 103 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::prev_force_mag

Definition at line 103 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::pull_trajectory

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::q_guess

Definition at line 62 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::rad

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::rad_vec_list

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::slip_count

Definition at line 71 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::start_pos

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::tan_vec_list

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::tangential_vec_ts

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::use_jacobian

Definition at line 238 of file door_epc.py.

hrl_pr2_kinematics_tutorials::door_epc.Door_EPC::use_rotation_center

Definition at line 238 of file door_epc.py.

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The documentation for this class was generated from the following file:

• door_epc.py