Classes | |
| class | CBPositionAnalysisData |
| class | CBRunAnalysisData |
| class | CounterbalanceAnalysisData |
| class | CounterbalanceAnalysisParams |
| Stores parameters from CB analysis test. More... | |
| class | CounterbalanceAnalysisResult |
| class | JointPositionAnalysisData |
Functions | |
| def | _get_const_flex_effort |
| Returns a list of lift positions, efforts for a given flex position (vary by lift) | |
| def | _get_const_lift_effort |
| def | _get_flex_positions |
| def | _get_lift_positions |
| def | _get_mean_abs_effort |
| def | _get_mean_effort |
| def | _get_mean_sq_effort |
| def | analyze_flex_efforts |
| Checks shoulder flex efforts against params. | |
| def | analyze_lift_efforts |
| Checks shoulder lift efforts against params. | |
| def | calc_cb_adjust |
| Calculates CB adjustment. | |
| def | check_cb_adjustment |
| Return CB adjustments to minimize total torque. | |
| def | get_efforts |
| Get average efforts for CB test as a list. | |
| def | plot_effort_contour |
| Gives effort contour plot of efforts by lift, flex position. | |
| def | plot_efforts_by_lift_position |
| Plots CB efforts against shoulder lift position. | |
| def | str_to_bytes |
Variables | |
| dictionary | ok_dict = { False: 'FAIL', True: 'OK' } |
| string | PKG = 'pr2_counterbalance_check' |
| Analyzes counterbalance data. | |
| def pr2_counterbalance_check.counterbalance_analysis._get_const_flex_effort | ( | data, | |
flex_index = 0, |
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lift_calc = True |
|||
| ) | [private] |
Returns a list of lift positions, efforts for a given flex position (vary by lift)
Definition at line 216 of file counterbalance_analysis.py.
| def pr2_counterbalance_check.counterbalance_analysis._get_const_lift_effort | ( | data, | |
lift_index = 0, |
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lift_calc = True |
|||
| ) | [private] |
Definition at line 229 of file counterbalance_analysis.py.
| def pr2_counterbalance_check.counterbalance_analysis._get_flex_positions | ( | data | ) | [private] |
Definition at line 246 of file counterbalance_analysis.py.
| def pr2_counterbalance_check.counterbalance_analysis._get_lift_positions | ( | data | ) | [private] |
Definition at line 253 of file counterbalance_analysis.py.
| def pr2_counterbalance_check.counterbalance_analysis._get_mean_abs_effort | ( | avg_effort_array | ) | [private] |
Definition at line 208 of file counterbalance_analysis.py.
| def pr2_counterbalance_check.counterbalance_analysis._get_mean_effort | ( | avg_effort_array | ) | [private] |
Definition at line 212 of file counterbalance_analysis.py.
| def pr2_counterbalance_check.counterbalance_analysis._get_mean_sq_effort | ( | avg_effort_array | ) | [private] |
Definition at line 204 of file counterbalance_analysis.py.
| def pr2_counterbalance_check.counterbalance_analysis.analyze_flex_efforts | ( | params, | |
| data | |||
| ) |
Checks shoulder flex efforts against params.
Definition at line 376 of file counterbalance_analysis.py.
| def pr2_counterbalance_check.counterbalance_analysis.analyze_lift_efforts | ( | params, | |
| data | |||
| ) |
Checks shoulder lift efforts against params.
Definition at line 334 of file counterbalance_analysis.py.
| def pr2_counterbalance_check.counterbalance_analysis.calc_cb_adjust | ( | data, | |
| model_file | |||
| ) |
Calculates CB adjustment.
Definition at line 416 of file counterbalance_analysis.py.
| def pr2_counterbalance_check.counterbalance_analysis.check_cb_adjustment | ( | params, | |
| data, | |||
| model_file | |||
| ) |
Return CB adjustments to minimize total torque.
Uses CB adjustment/torque value from the model file. Model file is generated by 'test_pr2_self_test/counterbalance_training.py'
| params | CounterbalanceAnalysisParams |
| data | CounterbalanceAnalysisData |
| str | : Filename of model file |
Definition at line 444 of file counterbalance_analysis.py.
| def pr2_counterbalance_check.counterbalance_analysis.get_efforts | ( | data, | |
| lift_calc | |||
| ) |
Get average efforts for CB test as a list.
| lift_calc | bool : Lift or flex efforts |
Definition at line 193 of file counterbalance_analysis.py.
| def pr2_counterbalance_check.counterbalance_analysis.plot_effort_contour | ( | params, | |
| data, | |||
lift_calc = True |
|||
| ) |
Gives effort contour plot of efforts by lift, flex position.
| params | CounterbalanceAnalysisParams : Input params |
| data | CounterbalanceAnalysisData : Test Data |
Definition at line 265 of file counterbalance_analysis.py.
| def pr2_counterbalance_check.counterbalance_analysis.plot_efforts_by_lift_position | ( | params, | |
| data, | |||
flex_index = -1, |
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lift_calc = True |
|||
| ) |
Plots CB efforts against shoulder lift position.
| flex_index | int : Index of flex data to plot against |
| lift_calc | bool : Lift efforts or flex efforts |
Definition at line 301 of file counterbalance_analysis.py.
Definition at line 56 of file counterbalance_analysis.py.
| dictionary pr2_counterbalance_check::counterbalance_analysis::ok_dict = { False: 'FAIL', True: 'OK' } |
Definition at line 54 of file counterbalance_analysis.py.
| string pr2_counterbalance_check::counterbalance_analysis::PKG = 'pr2_counterbalance_check' |
Analyzes counterbalance data.
Definition at line 38 of file counterbalance_analysis.py.