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| def | scripts.object_manipulation_hw-sim.move_jnt_imp (q_dest, time) |
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| def | scripts.object_manipulation_hw-sim.switch2cart_imp_mode (rORl, timeout) |
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| def | scripts.object_manipulation_hw-sim.switch2jnt_imp_mode () |
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| def | scripts.object_manipulation_hw-sim.closeORopen_gripper (rORl, dest_q) |
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| def | scripts.object_manipulation_hw-sim.tool2grip_pose (rORl) |
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| def | scripts.object_manipulation_hw-sim.move_cart_imp (rORl, T_frame, imp_list, pt_val, time) |
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| def | scripts.object_manipulation_hw-sim.identification_movements (rightORleft, imp_list, pt_val, dest_qGrasped, dest_qOpened, T_B_Trd, T_B_Trd2, T_B_Trd_Identif1, T_B_Trd_Identif2) |
| |
| def | scripts.object_manipulation_hw-sim.switch_weight_compensation (rightORleft, GRAV_OBJ_COMP, imp_list, pt_val) |
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| def | scripts.object_manipulation_hw-sim.diff_calc (rORl, T_frame) |
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| def | scripts.object_manipulation_hw-sim.get_tf_rORl (rORl) |
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| def | scripts.object_manipulation_hw-sim.isHandConfigClose_rORl (rORl) |
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| def | scripts.object_manipulation_hw-sim.q_map_rORl0 (rORl) |
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| def | scripts.object_manipulation_hw-sim.q_map_rORl (rORl, torso_angle) |
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| dictionary | scripts.object_manipulation_hw-sim.q_map_starting |
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| string | scripts.object_manipulation_hw-sim.rightORleft = 'right' |
| | INITIAL SETTINGS ###############. More...
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| |
| bool | scripts.object_manipulation_hw-sim.CART_TEST = False |
| | ---------------------------------------—### CART_TEST = True More...
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| bool | scripts.object_manipulation_hw-sim.GRAV_OBJ_COMP = True |
| | ---------------------------------------—### More...
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| |
| | scripts.object_manipulation_hw-sim.imp_list = PyKDL.Wrench(PyKDL.Vector(500, 500, 500), PyKDL.Vector(100, 100, 100)) |
| |
| float | scripts.object_manipulation_hw-sim.pt_val = 0.5 |
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| list | scripts.object_manipulation_hw-sim.dest_qOpened = [0, 0, 0, 0] |
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| list | scripts.object_manipulation_hw-sim.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_hw-sim.dest_qGrasped = [85.0/180.0*math.pi, 85.0/180.0*math.pi, 85.0/180.0*math.pi, 0] |
| |
| | scripts.object_manipulation_hw-sim.velma = VelmaInterface() |
| |
| | scripts.object_manipulation_hw-sim.timeout_s |
| |
| | scripts.object_manipulation_hw-sim.diag = velma.getCoreCsDiag() |
| |
| float | scripts.object_manipulation_hw-sim.alfa = 0.0 |
| |
| def | scripts.object_manipulation_hw-sim.q_map_0 = q_map_rORl0(rightORleft) |
| |
| def | scripts.object_manipulation_hw-sim.q_map_1 = q_map_rORl(rightORleft, alfa) |
| |
| | scripts.object_manipulation_hw-sim.T_B_Wr = velma.getTf("B", "Wr") |
| |
| | scripts.object_manipulation_hw-sim.T_B_Wl = velma.getTf("B", "Wl") |
| |
| | scripts.object_manipulation_hw-sim.start_time |
| |
| def | scripts.object_manipulation_hw-sim.T_Wo_grip = get_tf_rORl(rightORleft) |
| |
| | scripts.object_manipulation_hw-sim.T_Wo_obj1_pos = PyKDL.Vector(0.95, -0.12, 1.3) |
| |
| | scripts.object_manipulation_hw-sim.T_B_Trd = PyKDL.Frame(T_Wo_grip.M, T_Wo_obj1_pos + PyKDL.Vector(0.0, 0.0, 0.0)) |
| |
| | scripts.object_manipulation_hw-sim.T_B_Trd2 = PyKDL.Frame(T_Wo_grip.M, T_Wo_obj1_pos + PyKDL.Vector(0.0, 0.0, 0.05)) |
| |
| tuple | scripts.object_manipulation_hw-sim.dr = (T_Wo_obj1_pos - T_Wo_grip.p) |
| |
| | scripts.object_manipulation_hw-sim.drL = math.sqrt(dr[0]**2 + dr[1]**2) |
| |
| | scripts.object_manipulation_hw-sim.T_B_Trd_Identif1 = PyKDL.Frame(T_Wo_grip.M, T_Wo_obj1_pos + PyKDL.Vector(-0.2*dr[0]/drL, -0.2*dr[1]/drL, 0.05)) |
| |
| | scripts.object_manipulation_hw-sim.R_z = PyKDL.Rotation.RotZ(-math.pi/2) |
| |
| | scripts.object_manipulation_hw-sim.T_B_Trd_Identif2 = PyKDL.Frame(T_Wo_grip.M*R_z, T_Wo_obj1_pos + PyKDL.Vector(-0.2*dr[0]/drL, -0.2*dr[1]/drL, 0.05)) |
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