Variables | |
list | b_jt_anchor |
list | b_jt_attach = [[0, -1], [1, 0], [2,1]] |
list | b_jt_axis = [[0.,0.,1.],[0.,0.,1.], [0.,0.,1.]] |
list | b_jt_kd = [3., 2., 1.] |
list | b_jt_kp = [20., 15., 10.] |
tuple | b_jt_limits_max = np.radians([162, 159, 90]) |
tuple | b_jt_limits_min = np.radians([-63, 0, -45]) |
tuple | b_jt_start = np.radians([-30.0, 150, 15]) |
dictionary | b_jts |
list | bod_color = [[0.4, 0.4, 0.4, 1], [0.8, 0.8, 0.8, 1], [0.33, 0.33, 0.33, 1]] |
list | bod_com_position |
list | bod_dimensions |
list | bod_mass = [2.3, 1.32, 0.7] |
list | bod_names = ['link1', 'link2', 'link3'] |
int | bod_num_links = 3 |
list | bod_shapes = ['capsule', 'capsule', 'capsule'] |
dictionary | bodies |
float | dia = 0.03 |
tuple | ee_location = np.matrix([0., -upper_arm_length-forearm_length-hand_length, height]) |
float | forearm_length = 0.288 |
float | hand_length = 0.12 |
float | height = 0.0 |
float | upper_arm_length = 0.334 |
00001 [[0., 0., height], [0., -upper_arm_length, height], 00002 [0., -upper_arm_length-forearm_length, height]]
Definition at line 20 of file three_link_with_hand.py.
list hrl_common_code_darpa_m3::robot_config::three_link_with_hand::b_jt_attach = [[0, -1], [1, 0], [2,1]] |
Definition at line 27 of file three_link_with_hand.py.
list hrl_common_code_darpa_m3::robot_config::three_link_with_hand::b_jt_axis = [[0.,0.,1.],[0.,0.,1.], [0.,0.,1.]] |
Definition at line 19 of file three_link_with_hand.py.
Definition at line 23 of file three_link_with_hand.py.
list hrl_common_code_darpa_m3::robot_config::three_link_with_hand::b_jt_kp = [20., 15., 10.] |
Definition at line 22 of file three_link_with_hand.py.
tuple hrl_common_code_darpa_m3::robot_config::three_link_with_hand::b_jt_limits_max = np.radians([162, 159, 90]) |
Definition at line 24 of file three_link_with_hand.py.
tuple hrl_common_code_darpa_m3::robot_config::three_link_with_hand::b_jt_limits_min = np.radians([-63, 0, -45]) |
Definition at line 25 of file three_link_with_hand.py.
tuple hrl_common_code_darpa_m3::robot_config::three_link_with_hand::b_jt_start = np.radians([-30.0, 150, 15]) |
Definition at line 29 of file three_link_with_hand.py.
00001 {'anchor':b_jt_anchor, 'axis':b_jt_axis, 'jt_lim_max':b_jt_limits_max, 00002 'jt_lim_min':b_jt_limits_min, 'jt_init':b_jt_start, 'jt_attach':b_jt_attach, 00003 'jt_stiffness':b_jt_kp, 'jt_damping':b_jt_kd}
Definition at line 32 of file three_link_with_hand.py.
list hrl_common_code_darpa_m3::robot_config::three_link_with_hand::bod_color = [[0.4, 0.4, 0.4, 1], [0.8, 0.8, 0.8, 1], [0.33, 0.33, 0.33, 1]] |
Definition at line 12 of file three_link_with_hand.py.
00001 [[0., -upper_arm_length/2., height], 00002 [0., -upper_arm_length-forearm_length/2., height], 00003 [0., -upper_arm_length-forearm_length-hand_length/2.+dia/4, height]]
Definition at line 44 of file three_link_with_hand.py.
00001 [[dia, dia, upper_arm_length], [dia, dia, forearm_length], 00002 [dia, dia, hand_length-dia/2]]
Definition at line 41 of file three_link_with_hand.py.
list hrl_common_code_darpa_m3::robot_config::three_link_with_hand::bod_mass = [2.3, 1.32, 0.7] |
Definition at line 15 of file three_link_with_hand.py.
list hrl_common_code_darpa_m3::robot_config::three_link_with_hand::bod_names = ['link1', 'link2', 'link3'] |
Definition at line 17 of file three_link_with_hand.py.
Definition at line 13 of file three_link_with_hand.py.
list hrl_common_code_darpa_m3::robot_config::three_link_with_hand::bod_shapes = ['capsule', 'capsule', 'capsule'] |
Definition at line 38 of file three_link_with_hand.py.
00001 {'shapes':bod_shapes, 'dim':bod_dimensions, 'num_links':bod_num_links, 00002 'com_pos':bod_com_position, 'mass':bod_mass, 'name':bod_names, 'color':bod_color}
Definition at line 48 of file three_link_with_hand.py.
Definition at line 40 of file three_link_with_hand.py.
tuple hrl_common_code_darpa_m3::robot_config::three_link_with_hand::ee_location = np.matrix([0., -upper_arm_length-forearm_length-hand_length, height]) |
Definition at line 10 of file three_link_with_hand.py.
Definition at line 7 of file three_link_with_hand.py.
Definition at line 8 of file three_link_with_hand.py.
Definition at line 5 of file three_link_with_hand.py.
Definition at line 6 of file three_link_with_hand.py.