Classes | |
class | TrajectoryFilter |
Variables | |
string | arm = 'l' |
tuple | center |
home = True; | |
home_joint_positions = joint_positions | |
tuple | home_pose |
int | i = 0 |
tuple | ik_service = rospy.ServiceProxy( ik_service_name, GetPositionIK ) |
string | ik_service_name = 'pr2_left_arm_kinematics/get_ik' |
tuple | joint_names = dynutils.get_joint_names( 'l_arm_controller' ) |
list | joint_positions = [] |
tuple | l_arm_client = dynutils.init_jt_client( arm ) |
int | n_points = 50 |
list | neutral |
string | node_name = "reaching_node" |
tuple | pose |
tuple | req = GetPositionIKRequest() |
tuple | res = ik_service( req ) |
tuple | traj_filter = TrajectoryFilter( 'trajectory_filter/filter_trajectory_with_constraints' ) |
tuple | x = center.position.x+abs(np.random.rand() / 5) |
tuple | y = center.position.y+np.random.rand() |
tuple | z = center.position.z+np.random.rand() |
string reaching::arm = 'l' |
Definition at line 109 of file reaching.py.
tuple reaching::center |
00001 Pose( position = Point( 0.4, 0.2, 0.0 ), 00002 orientation = Quaternion( 0.0, 0.0, 0.0, 1.0 ) )
Definition at line 89 of file reaching.py.
Definition at line 114 of file reaching.py.
Definition at line 107 of file reaching.py.
tuple reaching::home_pose |
00001 Pose( position = Point( 0.25, 0.55, 0.0 ), 00002 orientation = Quaternion( 0.0, 0.0, 0.0, 1.0 ) )
Definition at line 92 of file reaching.py.
int reaching::i = 0 |
Definition at line 113 of file reaching.py.
tuple reaching::ik_service = rospy.ServiceProxy( ik_service_name, GetPositionIK ) |
Definition at line 65 of file reaching.py.
string reaching::ik_service_name = 'pr2_left_arm_kinematics/get_ik' |
Definition at line 62 of file reaching.py.
tuple reaching::joint_names = dynutils.get_joint_names( 'l_arm_controller' ) |
Definition at line 61 of file reaching.py.
tuple reaching::joint_positions = [] |
Definition at line 87 of file reaching.py.
tuple reaching::l_arm_client = dynutils.init_jt_client( arm ) |
Definition at line 110 of file reaching.py.
int reaching::n_points = 50 |
Definition at line 112 of file reaching.py.
00001 [ np.pi / 3, 00002 np.pi / 3, 00003 0, 00004 -3 * np.pi/4, 00005 0, 00006 0, 00007 0]
Definition at line 70 of file reaching.py.
string reaching::node_name = "reaching_node" |
Definition at line 56 of file reaching.py.
tuple reaching::pose |
Definition at line 124 of file reaching.py.
tuple reaching::req = GetPositionIKRequest() |
Definition at line 80 of file reaching.py.
tuple reaching::res = ik_service( req ) |
Definition at line 98 of file reaching.py.
tuple reaching::traj_filter = TrajectoryFilter( 'trajectory_filter/filter_trajectory_with_constraints' ) |
Definition at line 68 of file reaching.py.
tuple reaching::x = center.position.x+abs(np.random.rand() / 5) |
Definition at line 120 of file reaching.py.
tuple reaching::y = center.position.y+np.random.rand() |
Definition at line 121 of file reaching.py.
tuple reaching::z = center.position.z+np.random.rand() |
Definition at line 122 of file reaching.py.