Namespaces |
| namespace | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar |
Variables |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.b_jt_anchor |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.b_jt_attach = [[0, -1], [1, 0], [2,1], [3,2], [4,3], [5,4], [6,5]] |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.b_jt_axis = [[0.,0.,1.],[0.,0.,1.], [0.,0.,1.], [0.,0.,1.],[0.,0.,1.], [0.,0.,1.]] |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.b_jt_kd = [6.0, 4.5, 2.5, 1.8, 1.0, 0.6] |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.b_jt_kp = [24., 15., 9., 7., 3.2, 1.8] |
| tuple | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.b_jt_limits_max = np.radians([180, 120, 120, 120, 120, 120]) |
| tuple | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.b_jt_limits_min = np.radians([-180, -120, -120, -120, -120, -120]) |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.b_jt_start = [-1.75, 0.517, 0.814, 1.10, 1.01, 0.659] |
| dictionary | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.b_jts |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.bod_color = [[0.4, 0.4, 0.4, 1], [0.8, 0.8, 0.8, 1], [0.33, 0.33, 0.33, 1], [0.5, 0.5, 0.5, 1], [0.1, 0.1, 0.1, 1], [0.7, 0.7, 0.7, 1]] |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.bod_com_position |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.bod_dimensions = [[0.03, 0.03, link_length]] |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.bod_mass = [link_mass] |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.bod_names = ['link1', 'link2', 'link3', 'link4', 'link5', 'link6'] |
| int | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.bod_num_links = 6 |
| list | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.bod_shapes = ['capsule', 'capsule', 'capsule', 'capsule', 'capsule', 'capsule'] |
| dictionary | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.bodies |
| tuple | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.ee_location = np.matrix([0., -link_length*6.0, height]) |
| | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.link_length = total_length/num_links |
| | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.link_mass = total_mass/num_links |
| float | hrl_common_code_darpa_m3::robot_config::multi_link_six_planar.num_links = 6.0 |