ft_viz.py File Reference

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Namespaces
namespace	hrl_pr2_kinematics_tutorials::ft_viz
Variables
tuple	hrl_pr2_kinematics_tutorials::ft_viz.ati_pub = rospy.Publisher('/ati_ft', FloatArray)
tuple	hrl_pr2_kinematics_tutorials::ft_viz.farr = FloatArray()
list	hrl_pr2_kinematics_tutorials::ft_viz.force = rmat*ft[0:3,:]
string	hrl_pr2_kinematics_tutorials::ft_viz.force_frame_id = 'r_wrist_roll_link'
float	hrl_pr2_kinematics_tutorials::ft_viz.force_scale = 0.1
tuple	hrl_pr2_kinematics_tutorials::ft_viz.ft = ft_client.read(fresh = True)
tuple	hrl_pr2_kinematics_tutorials::ft_viz.ft_client = ftc.FTClient('force_torque_ft2')
tuple	hrl_pr2_kinematics_tutorials::ft_viz.marker = get_marker_arrow(p_st, p_end, force_frame_id)
tuple	hrl_pr2_kinematics_tutorials::ft_viz.marker_pub = rospy.Publisher('/test_marker', Marker)
	hrl_pr2_kinematics_tutorials::ft_viz.p_end = p_st+force*force_scale
tuple	hrl_pr2_kinematics_tutorials::ft_viz.p_st = np.matrix([0.,0.,0.])
tuple	hrl_pr2_kinematics_tutorials::ft_viz.rmat = tr.Rx(math.radians(180.))