Functions
def	anglesFromDistance
def	deg2radPose
def	deg2radPose_ROS
def	init
def	jointId
def	jointName
Variables
list	badPattern
string	badPatternName = 'Bad Pattern'
tuple	EXTRA_JAR_PATH = os.popen('rospack find hrpsys')
list	initialPose
list	lhandClose = [ 0.0, 0.0, 0.0, 0.0]
list	lhandOpen = [90.0, -90.0, -90.0, 90.0]
string	modelName = 'HIRONX'
list	offPose
list	rhandClose = [ 0.0, 0.0, 0.0, 0.0]
list	rhandOpen = [90.0, -90.0, -90.0, 90.0]
list	testPattern
list	testPattern2
string	testPattern2Name = 'Hello Action(No Hands)'
string	testPatternName = 'Hello Action'
float	timeToInitialPose = 10.0
float	timeToOffPose = 10.0
string	url = 'file:///opt/grx/%s/model/main.wrl'

Function Documentation

def bodyinfo.anglesFromDistance ( gripDist )

Definition at line 91 of file gui/bodyinfo.py.

def bodyinfo::deg2radPose ( pose )

Definition at line 119 of file gui/bodyinfo.py.

def bodyinfo.deg2radPose_ROS ( pose )

Definition at line 126 of file gui/bodyinfo.py.

def bodyinfo.init ( nameContext )

Definition at line 133 of file gui/bodyinfo.py.

def bodyinfo.jointId ( jointName )

Definition at line 140 of file gui/bodyinfo.py.

def bodyinfo.jointName ( jointId )

Definition at line 145 of file gui/bodyinfo.py.

Variable Documentation

list bodyinfo::badPattern

Initial value:

00001 [
00002   [[[5.8623891671491013e-07, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [-24.063999472883673, -24.063857952308275, -132.35299971970591, -39.534592353365412, 68.753904664625352, -12.603922769794654], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 4.0],
00003   [[[0.0002690654886253667, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [-24.063392882465969, -24.064318667671341, -132.35213054273066, -39.531304606945397, 68.753016007085094, -12.602852828408027], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 0.06138940928120018],
00004   [[[0.0029440489948407132, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [-24.054228078758172, -24.069391521397868, -132.33836351282929, -39.478882864803928, 68.74267583775638, -12.589768076649065], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 0.18885306435839944],
00005   [[[0.019501215464708538, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [-23.958275581652746, -24.111605733940181, -132.19170522488301, -38.930526158522639, 68.652528950101669, -12.471287795771568], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 0.5719746870164002],
00006   [[[0.042793864833615164, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [-23.416901340133379, -24.329440735310587, -131.36062822417239, -35.848164023210494, 68.178162867567991, -11.838511889026156], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 1.2078005663919997],
00007   [[[0.042789652447905363, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [-23.374620607191051, -24.346156549800412, -131.29566741527603, -35.607613422502766, 68.141616181647763, -11.789615441606575], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 0.065160552800000104],
00008   [[[-1.3938602113155345, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [-2.2492334873287017, -32.400543871812516, -98.747073541032904, 0.62282403091444416, 50.398302726828867, 12.084561108397974], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 9.6614643546319989],
00009   [[[-1.8439420506603965, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [3.324597346529119, -34.51092046453347, -90.643379075453666, 5.9309181853061794, 45.74241960866383, 18.356082076428802], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 1.415493877760003],
00010   [[[-1.981863878146493, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [5.0100798975369543, -35.129814577931107, -88.359275949671087, 7.4270553737571312, 44.335173384380653, 20.251833262756108], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 0.39897046384000134],
00011   [[[-1.9956312174451061, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [5.1778312829362703, -35.189402360512055, -88.135610988143668, 7.5735604527889651, 44.195528901987721, 20.440496690945224], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 0.039068062799998415],
00012   [[[-2.0921089793387955, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [6.3395167343679795, -35.596501880094451, -86.588952100191463, 8.5866554879976835, 43.24083029821653, 21.759900005459478], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 0.27015905767999726],
00013   [[[-3.077713843311813, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [16.961579579424924, -38.917218010519363, -72.446818189471799, 17.850057210925161, 35.399189539396275, 32.862658970770717], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 2.4702442068400003],
00014   [[[-3.9762657917238342, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [24.662221727399228, -41.005297950642792, -61.412309956716541, 25.077898024104279, 30.392327945794577, 40.026204752011438], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 1.9274269568400015],
00015   [[[-7.5082165643107981, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [41.135452762258097, -44.686163891931031, -35.808718571917368, 47.621775607683475, 21.035181160258968, 53.926340770632883], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 6.0117096102399969],
00016   [[[-8.718918211341272, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [43.917394905525271, -44.956259634302469, -31.457797969788672, 54.596318655128798, 20.060342173256462, 55.636810011086368], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 1.8598809100000011],
00017   [[[-9.2263502611897525, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [44.830362472062781, -44.946333140501828, -30.024712494860687, 57.823189455331431, 19.908768480385781, 56.02268791878226], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 0.86050016995999812],
00018   [[[-10.12671619398116, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [45.973522135329851, -44.654090860475193, -28.226998397984829, 61.697547254739909, 20.1901039358243, 56.022977835426595], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 1.8519489600399979],
00019   [[[-10.184312776336684, 0.0, 0.0], [-0.59948574104538033, 0.0, -99.999985561788449, 15.199252501891939, 9.399601812239208, 3.1996828069080823], [46.017095575649549, -44.61837209856894, -28.158185593831824, 61.757722147173524, 20.242211582502478, 55.980572083093371], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772], [0.9000021045914971, -0.60000140306099814, -0.60000140306099814, 0.39998183678082772]], 0.27724490652000355]
00020   ]

Definition at line 70 of file gui/bodyinfo.py.

string bodyinfo::badPatternName = 'Bad Pattern'

Definition at line 69 of file gui/bodyinfo.py.

tuple bodyinfo::EXTRA_JAR_PATH = os.popen('rospack find hrpsys')

Definition at line 12 of file gui/bodyinfo.py.

list bodyinfo::initialPose

Initial value:

00001 [
00002    [ 0,    0,    0],   
00003    [-0.6,  0, -100,  15.2,  9.4,  3.2],
00004    [ 0.6,  0, -100, -15.2,  9.4, -3.2],
00005    [],   # [ 0,    0,    0,   0],
00006    [],   # [ 0,    0,    0,   0],
00007 ]

Definition at line 19 of file gui/bodyinfo.py.

list bodyinfo::lhandClose = [ 0.0, 0.0, 0.0, 0.0]

Definition at line 39 of file gui/bodyinfo.py.

list bodyinfo::lhandOpen = [90.0, -90.0, -90.0, 90.0]

Definition at line 38 of file gui/bodyinfo.py.

string bodyinfo::modelName = 'HIRONX'

Definition at line 7 of file gui/bodyinfo.py.

list bodyinfo::offPose

Initial value:

00001 [ 
00002    [0,    0,    0],   
00003    [25, -140, -159,  45,  0, 0], 
00004    [-25, -140, -159, -45,  0, 0],
00005    [],   # [ 0,    0,    0,   0],
00006    [],   # [ 0,    0,    0,   0],
00007 ]

Definition at line 28 of file gui/bodyinfo.py.

list bodyinfo::rhandClose = [ 0.0, 0.0, 0.0, 0.0]

Definition at line 37 of file gui/bodyinfo.py.

list bodyinfo::rhandOpen = [90.0, -90.0, -90.0, 90.0]

Definition at line 36 of file gui/bodyinfo.py.

list bodyinfo::testPattern

Initial value:

00001 [
00002     [[ [  0,  0,-10], [ -0.6,  0,-100, 15.2,  9.4, 3.2], [ 0.6,  0,-100,-15.2,  9.4, -3.2],
00003        [ 0,  0,  0,  0], [  0,  0,  0,  0] ], 3],
00004     [[ [ 10, 20,-10], [-10.6,  0,-100, 15.2,  9.4, 3.2], [-9.4,  0,-100,-15.2,  9.4, -3.2],
00005        [45,-45,-45, 45], [ 45,-45,-45, 45] ], 3],
00006     [[ [-10,-20,-10], [  9.4,  0,-100, 15.2,  9.4, 3.2], [10.6,  0,-100,-15.2,  9.4, -3.2],
00007        [90,-90,-90, 90], [ 90,-90,-90, 90] ], 3],
00008     [[ [ 10, 20,-10], [-34,  -50,-136,-110, -25,  12],   [34,  -50,-136,110.0,-25.0,-12.0],
00009        [45,-45,-45, 45], [ 45,-45,-45, 45] ], 3],
00010     [[ [  0,  0,  0], [ -0.6,  0,-100, 15.2,  9.4, 3.2], [ 0.6,  0,-100,-15.2,  9.4, -3.2],
00011        [ 0,  0,  0,  0], [  0,  0,  0,  0] ], 3],
00012 ]

Definition at line 42 of file gui/bodyinfo.py.

list bodyinfo::testPattern2

Initial value:

00001 [
00002     [[ [  0,  0,-10], [ -0.6,  0,-100, 15.2,  9.4, 3.2], [ 0.6,  0,-100,-15.2,  9.4, -3.2],
00003        [], [] ], 3],
00004     [[ [ 10, 20,-10], [-10.6,  0,-100, 15.2,  9.4, 3.2], [-9.4,  0,-100,-15.2,  9.4, -3.2],
00005        [], [] ], 3],
00006     [[ [-10,-20,-10], [  9.4,  0,-100, 15.2,  9.4, 3.2], [10.6,  0,-100,-15.2,  9.4, -3.2],
00007        [], [] ], 3],
00008     [[ [ 10, 20,-10], [-34,  -50,-136,-110, -25,  12],   [34,  -50,-136,110.0,-25.0,-12.0],
00009        [], [] ], 3],
00010     [[ [  0,  0,  0], [ -0.6,  0,-100, 15.2,  9.4, 3.2], [ 0.6,  0,-100,-15.2,  9.4, -3.2],
00011        [], [] ], 3],
00012 ]

Definition at line 56 of file gui/bodyinfo.py.

string bodyinfo::testPattern2Name = 'Hello Action(No Hands)'

Definition at line 55 of file gui/bodyinfo.py.

string bodyinfo::testPatternName = 'Hello Action'

Definition at line 41 of file gui/bodyinfo.py.

float bodyinfo::timeToInitialPose = 10.0

Definition at line 18 of file gui/bodyinfo.py.

float bodyinfo::timeToOffPose = 10.0

Definition at line 27 of file gui/bodyinfo.py.

string bodyinfo::url = 'file:///opt/grx/%s/model/main.wrl'

Definition at line 8 of file gui/bodyinfo.py.

Functions

Variables

Function Documentation

Variable Documentation