object_manipulation_hardware.py File Reference

Go to the source code of this file.

Namespaces
	scripts.object_manipulation_hardware

Functions
def	scripts.object_manipulation_hardware.move_jnt_imp (q_dest, time)
def	scripts.object_manipulation_hardware.switch2cart_imp_mode (rORl, timeout)
def	scripts.object_manipulation_hardware.switch2jnt_imp_mode ()
def	scripts.object_manipulation_hardware.closeORopen_gripper (rORl, dest_q)
def	scripts.object_manipulation_hardware.tool2grip_pose (rORl)
def	scripts.object_manipulation_hardware.move_cart_imp (rORl, T_frame, imp_list, pt_val, time)
def	scripts.object_manipulation_hardware.identification_movements (rightORleft, imp_list, pt_val, dest_qGrasped, dest_qOpened, T_B_Trd, T_B_Trd_Identif1, T_B_Trd_Identif2)
def	scripts.object_manipulation_hardware.switch_weight_compensation (rightORleft, GRAV_OBJ_COMP, imp_list, pt_val)
def	scripts.object_manipulation_hardware.diff_calc (rORl, T_frame)
def	scripts.object_manipulation_hardware.get_tf_rORl (rORl)
def	scripts.object_manipulation_hardware.isHandConfigClose_rORl (rORl)
def	scripts.object_manipulation_hardware.q_map_rORl0 (rORl)
def	scripts.object_manipulation_hardware.q_map_rORl (rORl, torso_angle)

Variables
dictionary	scripts.object_manipulation_hardware.q_map_starting
string	scripts.object_manipulation_hardware.rightORleft = 'right'
	INITIAL SETTINGS ###############. More...
bool	scripts.object_manipulation_hardware.CART_TEST = True
	---------------------------------------—### More...
bool	scripts.object_manipulation_hardware.GRAV_OBJ_COMP = True
	---------------------------------------—### More...
	scripts.object_manipulation_hardware.imp_list = PyKDL.Wrench(PyKDL.Vector(500, 500, 500), PyKDL.Vector(100, 100, 100))
float	scripts.object_manipulation_hardware.pt_val = 0.5
list	scripts.object_manipulation_hardware.dest_qOpened = [0, 0, 0, 0]
list	scripts.object_manipulation_hardware.dest_qOpened2 = [0, 0, 0, math.pi]
list	scripts.object_manipulation_hardware.dest_qClosed = [90.0/180.0*math.pi, 90.0/180.0*math.pi, 90.0/180.0*math.pi, 0]
list	scripts.object_manipulation_hardware.dest_qGrasped = [85.0/180.0*math.pi, 85.0/180.0*math.pi, 85.0/180.0*math.pi, 0]
	scripts.object_manipulation_hardware.velma = VelmaInterface()
	scripts.object_manipulation_hardware.timeout_s
	scripts.object_manipulation_hardware.diag = velma.getCoreCsDiag()
float	scripts.object_manipulation_hardware.alfa = 0.0
def	scripts.object_manipulation_hardware.q_map_0 = q_map_rORl0(rightORleft)
def	scripts.object_manipulation_hardware.q_map_1 = q_map_rORl(rightORleft, alfa)
	scripts.object_manipulation_hardware.T_B_Wr = velma.getTf("B", "Wr")
	scripts.object_manipulation_hardware.T_B_Wl = velma.getTf("B", "Wl")
	scripts.object_manipulation_hardware.start_time
def	scripts.object_manipulation_hardware.T_Wo_grip = get_tf_rORl(rightORleft)
	scripts.object_manipulation_hardware.T_Wo_obj1_pos = PyKDL.Vector(0.8, -0.17, 1.1)
	scripts.object_manipulation_hardware.T_B_Trd = PyKDL.Frame(T_Wo_grip.M, T_Wo_obj1_pos + PyKDL.Vector(0.0, 0.0, 0.0))
tuple	scripts.object_manipulation_hardware.dr = (T_Wo_obj1_pos - T_Wo_grip.p)
	scripts.object_manipulation_hardware.drL = math.sqrt(dr[0]**2 + dr[1]**2)
	scripts.object_manipulation_hardware.T_B_Trd_Identif1 = PyKDL.Frame(T_Wo_grip.M, T_Wo_obj1_pos + PyKDL.Vector(-0.15*dr[0]/drL, -0.15*dr[1]/drL, 0.15))
	scripts.object_manipulation_hardware.R_z = PyKDL.Rotation.RotZ(-math.pi/2)
	scripts.object_manipulation_hardware.T_B_Trd_Identif2 = PyKDL.Frame(T_Wo_grip.M*R_z, T_Wo_obj1_pos + PyKDL.Vector(-0.15*dr[0]/drL, -0.15*dr[1]/drL, 0.15))
def	scripts.object_manipulation_hardware.q_map_2 = q_map_rORl(rightORleft, 0.0)
float	scripts.object_manipulation_hardware.pm = 1.0
float	scripts.object_manipulation_hardware.quat_z = 0.0
float	scripts.object_manipulation_hardware.quat_w = 1.0
	scripts.object_manipulation_hardware.T_B_Trd2 = PyKDL.Frame(PyKDL.Rotation.Quaternion( 0.0 , 0.0 , quat_z , quat_w ), PyKDL.Vector( 0.7, -0.2*pm, 1.45))
	scripts.object_manipulation_hardware.T_B_Trd3 = PyKDL.Frame(PyKDL.Rotation.Quaternion( 0.0 , 0.0 , quat_z , quat_w ), PyKDL.Vector( 0.7, -0.2*pm, 1.35))
	scripts.object_manipulation_hardware.T_B_Trd4 = PyKDL.Frame(PyKDL.Rotation.Quaternion( 0.0 , 0.0 , quat_z , quat_w ), PyKDL.Vector( 0.7, -0.1*pm, 1.35))
	scripts.object_manipulation_hardware.T_B_Trd5 = PyKDL.Frame(PyKDL.Rotation.Quaternion( 0.0 , 0.0 , quat_z , quat_w ), PyKDL.Vector( 0.7, -0.1*pm, 1.45))
int	scripts.object_manipulation_hardware.i = 0
def	scripts.object_manipulation_hardware.q_map_end = q_map_rORl(rightORleft, alfa)