Contains properties and methods managing the kinematics of the PR2 robot. More...

Inheritance diagram for PR2:

Public Member Functions
def	__init__
	The Class Constructor: More...

def	joint_in_range
	Use this function to check if a given value for specific joint is in its feasibility range. More...

def	all_joints_in_range
	Use this function to check if all values of the given joint vector are in their feasibility range. More...

def	full_config
	Dumps the given partial joint values in the given full set of PR2 joints and returns the modified full set of joints This function does change object configuration. More...

def	set_ofuncode
	protected More...

def	objective_function
	Use this function to find the current value of the objective function. More...

def	set_config
	Sets the robot configuration to the desired given joint values. More...

def	set_target
	Sets the endeffector target to a desired position and orientation. More...

def	set_posture

def	all_IK_solutions
	Finds all the feasible solutions of the Inverse Kinematic problem for given redundant parameter vector $ \phi $. More...

def	objective_function_for
	Use this function to get the value of the objective function for a given configuration q Why has this function been written? Sometimes you want to find the value of the objective function for a configuration but you don't want to set that configuration (you don't want to take the manipulator to that configuration) In this case, you can not use function "self.objective_function()" which gives the value of the objective function for the current configuration of the robot. More...

def	IK_config
	Finds the solution of the Inverse Kinematic problem for given redundant parameter vector $ phi $ in free-base mode. More...

def	pos_rarm_grip_wrt_tor_shpan
	Use this function to get the current position of the right gripper (Arm Endeffector) w.r.t the arm base. More...

def	pos_larm_grip_wrt_tor_shpan
	Use this function to get the current position of the left gripper (Arm Endeffector) w.r.t the arm base. More...

def	pos_larm_grip_wrt_tor
	Use this function to get the current position of the left gripper (Arm Endeffector) w.r.t the torso. More...

def	pos_rarm_grip_wrt_tor
	Use this function to get the current position of the right gripper (Arm Endeffector) w.r.t the torso. More...

def	pos_rarm_grip
	Use this function to get the current global position of the right gripper (Arm Endeffector). More...

def	pos_larm_grip
	Use this function to get the current global position of the left gripper (Arm Endeffector). More...

def	rarm_end_position
	Returns the current position of the endeffector or gripper end for the right arm. More...

def	larm_end_position
	Returns the current position of the endeffector or gripper end for the left arm. More...

def	end_position
	Returns the current position of the endeffector or gripper end for the reference arm. More...

def	rarm_end_orientation

def	larm_end_orientation

def	end_orientation

def	div_theta_err

def	redundant_parameters
	Use this function to get the current values of the five redundant parameters of the PR2 robot in free-base mode. More...

def	div_phi_err

def	redundancy_jacobian

def	redundancy_jacobian_extended

def	div_theta_ofun

def	div_phi_ofun

def	joint_stepsize_interval

def	optimum_joint_stepsize

def	steepest_descent_redundancy_correction

def	endeffector_in_target

def	optimize_config

def	extended_config

def	goto_target

def	project_to_js

def	project_to_ts

Public Attributes
	ql
	A numpy vector of size 7 containing the lower bounds of the arm joints. More...

	qh
	A numpy vector of size 7 containing the upper bounds of the arm joints. More...

	qm
	A numpy vector of size 18 containing a set of reference values for the joints. More...

	q
	A numpy vector of size 18 containing the current values of the joints. More...

	ofuncode
	Specifies the objective function for redundancy optimization. More...

	W

	rarm
	An instance of class packages.nima.robotics.kinematics.special_geometries.pr2.pr2_arm_kinematics.PR2_ARM() containing the kinematic properties and methods of the right arm. More...

	larm
	An instance of class packages.nima.robotics.kinematics.special_geometries.pr2.pr2_arm_kinematics.PR2_ARM() containing the kinematic properties and methods of the left arm. More...

	d7

	b0

	l0

	p_EFR_WR

	p_EFL_WL

	control_mode

	larm_reference
	A boolean specifying the reference arm for the endeffector. More...

	xd
	A numpy vector of size 3 representing the desired position of the Endeffector. More...

	Rd
	A $ 3 \times 3 $ rotation matrix specifying the desired endeffector orientation for the IK problem. More...

	ofun_computed

	div_theta_ofun_updated

	div_phi_ofun_updated

	ofun

	C

	S

	p_BO

	p_BL_BO

	p_BR_BO

	R_B

	p_EFR

	p_EFL

	R_WR

	R_WL

	redun_jacob_updated

	redun_jacob_ext_updated

	geometric_jacob_updated

	div_theta_err_updated

	redundant_parameters_updated

	p_WR_BR

	p_WL_BL

	R_WR_B

	R_WL_B

	E

	F

	phi

	RJ

	ERJ

	DTG

	DFG

	in_target

Detailed Description

Contains properties and methods managing the kinematics of the PR2 robot.

This class contains all properties and methods required for forward and inverse kinematic computations and kinematic control of the PR2 robot in two control modes: Fixed-Base and Free-Base In fixed-base mode, the body of the robot is assumed fixed (No navigation) and only the arms can move while in free-base mode, the robot trunk is free to navigate. Each control mode can be set for one of the arms as the reference arm (Endeffector) Dual arm control (two endeffectors) is not supported in this version PR2 has 18 degrees of freedom. The Robot will have two arms that each of them contains its associated joint values in its config property.

Definition at line 56 of file pr2_kinematics.py.

Constructor & Destructor Documentation

def __init__	(	self,
		a0 = `0.1`,
		b0 = `0.05`,
		d2 = `0.4`,
		d4 = `0.321`,
		d7 = `0.168`,
		l0 = `0.188`,
		ql = `default_ql`,
		qh = `default_qh`,
		run_magiks = `False`
	)

The Class Constructor:

Parameters

a0	A float specifying the value of /f$ a_0 /f$ in the DH parameters of the arm
b0	A float specifying the distance of line connecting the two arms from the center of robot base
d2	A float specifying the value of /f$ d_2 /f$ in the DH parameters of the arm
d4	A float specifying the value of /f$ d_4 /f$ in the DH parameters of the arm
d7	A float specifying the length of the gripper
l0	A float specifying half of the distance between the arms
ql	A numpy vector of size 18 containing the lower bounds of the arm joints
qh	A numpy vector of size 18 containing the upper bounds of the arm joints

Definition at line 66 of file pr2_kinematics.py.

Member Function Documentation

def all_IK_solutions	(	self,
		phi
	)

Finds all the feasible solutions of the Inverse Kinematic problem for given redundant parameter vector $ \phi $.

Parameters

phi

Is a numpy vector of five elements containing the values of five redundant parameters in free-base mode. The values of phi specify the following parameters:
phi[0] : The first joint angle q[0] (Shoulder-Pan joint angle)
phi[1] : The r cylindrical coordinate of the wrist (wrist joint center) position w.r.t. the arm base (shoulder-pan joint center) in torso coordinate system:

\[ r = p_x^2 + p_y^2 \]

where $ p_x $ and $ p_y $ are the x and y cartesian coordinates of the wrist position w.r.t. the arm base in torso coordinate system.
phi[2] : $ p_z $ or the z cartesian coordinate of the wrist position w.r.t. the arm base in torso coordinate system.
phi[3] : The $ \psi $ cylindrical coordinate of the wrist (wrist joint center) position w.r.t. the arm base in torso CS:

\[ \psi = \arctan( \frac {p_x} {p_y}) \]

( $ p_x $ and $ p_y $ can be determined from phi[1] and phi[3])
phi[4] : $ \tau $ or the rotation angle of the trunc base around z axis

Returns: An array of numpy vectors. Each numpy vector is a feasible solution and contains 11 elements. The first 7 elements are the arm joints(left arm if property larm_reference is True and right arm, otherwise) and the next 4 elements contain the values of non-arm degrees of freedom (q[7] to q[10]) This function only returns the feasible IK solutions but does NOT set the configuration so the joint values do not change The output will be None if given redundant parameters are invalid or out of feasible range.

Definition at line 370 of file pr2_kinematics.py.

def all_joints_in_range	(	self,
		qd
	)

Use this function to check if all values of the given joint vector are in their feasibility range.

Parameters

qd	A numpy vector of size 18 containing the values to be checked

Returns

A boolean: If The given joints "qd" are out of the range specified by properties: ql and qh, returns False, otherwise returns True

Example

Definition at line 167 of file pr2_kinematics.py.

def div_phi_err ( self )

Returns the divergence of the vector of kinematic constraints "e" in respect with the redundant parameters "phi"
It is a 9*5 matrix
f_ij = rond e_i / rond phi_j  (for i = 0,..,8 & j = 0,..,4) 
the value of "self.F" is computed in function "div_theta_e" to avoid repeated calculations

Definition at line 814 of file pr2_kinematics.py.

def div_phi_ofun ( self )

Returns the divergence of the objective function in respect with the redundant parameters "phi"
argument "ofun" specifies the code of the objective function which is set to 0 by default. 
The code legend is like function "div_theta_ofun"

Definition at line 947 of file pr2_kinematics.py.

def div_theta_err ( self )

Returns the divergence of the vector of kinematic constraints "e" in respect with the joints
It is a 9*9 matrix
e_ij = rond e_i / rond q_j  (for i,j = 0,..,8)

Definition at line 655 of file pr2_kinematics.py.

def div_theta_ofun ( self )

Returns the divergence of the objective function in respect with the joint angles
argument "ofun" specifies the code of the objective function which is set to 0 by default

Definition at line 935 of file pr2_kinematics.py.

def end_orientation	(	self,
		relative = `True`
	)

Definition at line 649 of file pr2_kinematics.py.

def end_position	(	self,
		relative = `None`
	)

Returns the current position of the endeffector or gripper end for the reference arm.

Parameters

relative A boolean: If True, the gripper position is returned w.r.t. the base (torso), otherwise, w.r.t. the global coordinate system If relative is None (default value), it will be set to True if the current control mode is 'Fixed-Base' and False if otherwise

Returns: A numpy vector of size 3, containing the current position of the reference arm gripper endpoint.

Definition at line 614 of file pr2_kinematics.py.

def endeffector_in_target ( self )

Returns true is endeffector is in target

Definition at line 1027 of file pr2_kinematics.py.

def extended_config	(	self,
		q
	)

Definition at line 1082 of file pr2_kinematics.py.

def full_config	(	self,
		q_partial,
		q_full = `None`,
		is_left_arm = `False`
	)

Dumps the given partial joint values in the given full set of PR2 joints and returns the modified full set of joints This function does change object configuration.

Parameters

q_partial	A numpy vector of size 7 or 11. If size is 7, it should contain arm joint values and if 11, it should have arm joint values plus four trunk location parameters: $ h_{ts} = q[7] , x = q[8], y = q[9], \theta = q[10] $
q_full	A numpy vector of size 18 containing all joint values of PR2, if Null, current object configuration will be set

Returns: A numpy vector of size 18 containing the full configuration of PR2 embedded q_partial

Definition at line 185 of file pr2_kinematics.py.

def goto_target ( self )

Finds the inverse kinematic solution closest to the current configuration
The new joint angles will be set if all the kinematic equations are satisfied. 
All kinematic parameters will be updated.
THIS FUNCTION IS NOT COMPLETE AND i NEED TO WORK ON IT MORE ...

Definition at line 1091 of file pr2_kinematics.py.

def IK_config	(	self,
		phi
	)

Finds the solution of the Inverse Kinematic problem for given redundant parameter vector $ phi $ in free-base mode.

In case of redundant solutions, the one corresponding to the lowest objective function is selected. Class property ofuncode specifies the objective function. legend for ofuncode:

ofuncode = 0 (Default) the solution closest to current joint angles will be selected
ofuncode = 1 the solution corresponding to the lowest midrange distance is selected This function does NOT set the configuration so the joints do not change
Parameters

phi A numpy vector of size 5 containing the values of the five redundant parameters

Returns
A numpy vector of size 5 containing the IK solution corresponding to the given redundant parameters and the lowest value of the objective function. The first 7 elements contain the joints of the reference arm and the last four, are the values of the non-arm joints.

Definition at line 493 of file pr2_kinematics.py.

def joint_in_range	(	self,
		i,
		qi
	)

Use this function to check if a given value for specific joint is in its feasibility range.

Parameters

i	An integer between 0 to 17 specifying the joint number to be checked
qi	A float parameter specifying the value for the i-th joint

Returns

A boolean: True if the given joint angle qi is in feasible range for the i-th joint (within the specified joint limits for that joint)

Example

Definition at line 145 of file pr2_kinematics.py.

def joint_stepsize_interval	(	self,
		direction
	)

Returns an interval for the step size by which the joints are allowed to move in the given "direction"
"direction" is a "n X 1" vector and specifies the direction of motion in the jointspace.

Definition at line 959 of file pr2_kinematics.py.

def larm_end_orientation	(	self,
		relative = `None`
	)

Definition at line 635 of file pr2_kinematics.py.

def larm_end_position	(	self,
		relative = `None`
	)

Returns the current position of the endeffector or gripper end for the left arm.

Parameters

relative A boolean: If True, the gripper position is returned w.r.t. the base (torso), otherwise, w.r.t. the global coordinate system If relative is None (default value), it will be set to True if the current control mode is 'Fixed-Base' and False if otherwise

Returns: A numpy vector of size 3, containing the current position of the left arm gripper endpoint.

Definition at line 597 of file pr2_kinematics.py.

def objective_function ( self )

Use this function to find the current value of the objective function.

Parameters

None

Returns: An instance of type float containing the value of the objective function

Definition at line 229 of file pr2_kinematics.py.

def objective_function_for	(	self,
		q
	)

Use this function to get the value of the objective function for a given configuration q Why has this function been written? Sometimes you want to find the value of the objective function for a configuration but you don't want to set that configuration (you don't want to take the manipulator to that configuration) In this case, you can not use function "self.objective_function()" which gives the value of the objective function for the current configuration of the robot.

Parameters

q	A numpy vector of size 11 containing the joint values of the reference arm followed by the four non-arm joints

Returns: A float indicating the value of the objective function for the given q

Definition at line 465 of file pr2_kinematics.py.

def optimize_config	(	self,
		silent = `True`
	)

Assuming the endeffector is in target,
this function changes the robot configuration without changing the endeffector pose
until the minimum possible value of objective function is achieved
Note:
This function is a procedure and does not return any thing. Running this function, changes the robot configuration. 
If the current tip pose is not in target, this function fails with an error

Definition at line 1034 of file pr2_kinematics.py.

def optimum_joint_stepsize	(	self,
		direction,
		safety_factor = `0.99`
	)

returns the optimum feasible step size that minimizes the objective function 
if the joints are constrained to move in the given "direction".
The "safety_factor" specifies how much we can approach to the borders of joint limits

Definition at line 982 of file pr2_kinematics.py.

def pos_larm_grip ( self )

Use this function to get the current global position of the left gripper (Arm Endeffector).

Parameters

None

Returns: A numpy vector of 3 elements containing the global cartesian coordiantes of the end of left arm gripper.

Definition at line 572 of file pr2_kinematics.py.

def pos_larm_grip_wrt_tor ( self )

Use this function to get the current position of the left gripper (Arm Endeffector) w.r.t the torso.

Parameters

None

Returns: A numpy vector of 3 elements containing the left arm gripper position vector (endeffector position) w.r.t. the torso at the origin Note: The torso origin is at the floor footprint (projection) of the middle point between the two shoulder pan joint centers.

Definition at line 546 of file pr2_kinematics.py.

def pos_larm_grip_wrt_tor_shpan ( self )

Use this function to get the current position of the left gripper (Arm Endeffector) w.r.t the arm base.

Parameters

None

Returns: A numpy vector of 3 elements containing the position of the left arm gripper (endeffector position) w.r.t. the torso shoulder pan joint center.

Definition at line 534 of file pr2_kinematics.py.

def pos_rarm_grip ( self )

Use this function to get the current global position of the right gripper (Arm Endeffector).

Parameters

None

Returns: A numpy vector of 3 elements containing the global cartesian coordiantes of the end of right arm gripper.

Definition at line 565 of file pr2_kinematics.py.

def pos_rarm_grip_wrt_tor ( self )

Use this function to get the current position of the right gripper (Arm Endeffector) w.r.t the torso.

Parameters

None

Returns: A numpy vector of 3 elements containing the right arm gripper position vector (endeffector position) w.r.t. the torso at the origin Note: The torso origin is at the floor footprint (projection) of the middle point between the two shoulder pan joint centers.

Definition at line 557 of file pr2_kinematics.py.

def pos_rarm_grip_wrt_tor_shpan ( self )

Use this function to get the current position of the right gripper (Arm Endeffector) w.r.t the arm base.

Parameters

None

Returns: A numpy vector of 3 elements containing the position of the right arm gripper w.r.t. the torso shoulder pan joint center.

Definition at line 524 of file pr2_kinematics.py.

def project_to_js	(	self,
		pos_traj,
		ori_traj = `None`,
		phi_start = `0.0`,
		phi_end = `None`,
		delta_phi = `0.1`,
		relative = `True`
	)

projects the given taskspace pose trajectory into the jointspace 
The phase starts from phi_start and added by delta_phi in each step.
at any time, if a solution is not found, the process stops

Definition at line 1119 of file pr2_kinematics.py.

def project_to_ts	(	self,
		js_traj,
		phi_start = `0.0`,
		phi_end = `None`,
		delta_phi = `0.1`
	)

projects the given jointspace trajectory into the taskspace
The phase starts from phi_start and added by delta_phi in each step.
if at any time the joint values are not feasible, the process is stopped.

Definition at line 1172 of file pr2_kinematics.py.

def rarm_end_orientation	(	self,
		relative = `None`
	)

Definition at line 620 of file pr2_kinematics.py.

def rarm_end_position	(	self,
		relative = `None`
	)

Returns the current position of the endeffector or gripper end for the right arm.

Parameters

relative A boolean: If True, the gripper position is returned w.r.t. the base (torso), otherwise, w.r.t. the global coordinate system If relative is None (default value), it will be set to True if the current control mode is 'Fixed-Base' and False if otherwise

Returns: A numpy vector of size 3, containing the current position of the right arm gripper endpoint.

Definition at line 580 of file pr2_kinematics.py.

def redundancy_jacobian ( self )

Returns the redundancy jacobian
Redundancy Jacobian is the partial derivative of the joints in respect with redundant parameters
RJ is a 9*5 matrix because the first and the last joints (q[0] and q[10]) are themselves selected as the redundant parameters

Definition at line 825 of file pr2_kinematics.py.

def redundancy_jacobian_extended ( self )

returns the extended redundancy jacobian which is "11 x 5" matrix.
It is the redundancy jacobian with two rows inserted At its first and last rows. 
These rows are corresponding to the first and last joints (shoulder pan joint and base rotation angle).

Definition at line 919 of file pr2_kinematics.py.

def redundant_parameters ( self )

Use this function to get the current values of the five redundant parameters of the PR2 robot in free-base mode.

@return A numpy vector of 5 elements containing the redundant parameters phi according to the parametrization specified in <provide link>

phi[0] = The first arm joint angle (Shoulder Pan joint)
phi[1] = The "r" coordinate of the relative wrist position(in cylinderical coordinates) phi[1]^2 = px^2 + py^2
phi[2] = The "z" coordinate of the relative wrist position(in cylinderical coordinates) phi[2]   = pz
phi[3] = The "psi" coordinate of the relative wrist position(in cylinderical coordinates) phi[3] = arctan(x/y)
phi[4] = The rotation of the base. Same as "tau" or the 10th joint angle (phi[4] = q[10] = tau)

Definition at line 787 of file pr2_kinematics.py.

def set_config	(	self,
		qd
	)

Sets the robot configuration to the desired given joint values.

Parameters

qd	A numpy array of 7 elements containing the values of the given joints

Returns: A boolean: True if the given configuration is successfully set, False if the given configuration is not successfully set. (If False is returned, the configuration will not chenge)

Definition at line 239 of file pr2_kinematics.py.

def set_ofuncode	(	self,
		new_ofuncode
	)

protected

Definition at line 215 of file pr2_kinematics.py.

def set_posture	(	self,
		posture
	)

Definition at line 327 of file pr2_kinematics.py.

def set_target	(	self,
		target_position,
		target_orientation
	)

Sets the endeffector target to a desired position and orientation.

The target must be specified for the end of gripper of the reference arm. If the object is in Fixed-Base mode, then the target should be given w.r.t. the base (torso). If the object is in Free-Base mode, then the target should be given w.r.t. the global(lab) frame.

Parameters

target_position	A numpy array of 3 elements specifying the desired endeffector position
target_orientation	A $ 3 \times 3 $ numpy rotation matrix representing the desired endeffector orientation

Returns

A boolean: True if the given pose is successfully set, False if the given pose is not successfully set because of an error (If False is returned, properties self.xd and self.RD will not chenge)

sets the endeffector target to the given position and orientation
variables self.xd and self.Rd should not be manipulated by the user. Always use this function

Definition at line 291 of file pr2_kinematics.py.

def steepest_descent_redundancy_correction ( self )

Finds the steepest descent direction of the objective function for redundancy vector "phi"

Definition at line 1015 of file pr2_kinematics.py.

Member Data Documentation

b0

Definition at line 119 of file pr2_kinematics.py.

C

Definition at line 250 of file pr2_kinematics.py.

control_mode

Definition at line 127 of file pr2_kinematics.py.

d7

Definition at line 118 of file pr2_kinematics.py.

DFG

Definition at line 955 of file pr2_kinematics.py.

div_phi_ofun_updated

Definition at line 224 of file pr2_kinematics.py.

div_theta_err_updated

Definition at line 268 of file pr2_kinematics.py.

div_theta_ofun_updated

Definition at line 223 of file pr2_kinematics.py.

DTG

Definition at line 941 of file pr2_kinematics.py.

E

Definition at line 670 of file pr2_kinematics.py.

ERJ

Definition at line 926 of file pr2_kinematics.py.

F

Definition at line 671 of file pr2_kinematics.py.

geometric_jacob_updated

Definition at line 267 of file pr2_kinematics.py.

in_target

Definition at line 1031 of file pr2_kinematics.py.

l0

Definition at line 120 of file pr2_kinematics.py.

larm

An instance of class packages.nima.robotics.kinematics.special_geometries.pr2.pr2_arm_kinematics.PR2_ARM() containing the kinematic properties and methods of the left arm.

Definition at line 116 of file pr2_kinematics.py.

larm_reference

A boolean specifying the reference arm for the endeffector.

If True, the endeeffector is the end of left arm gripper, False if right arm

Definition at line 131 of file pr2_kinematics.py.

ofun

Definition at line 231 of file pr2_kinematics.py.

ofun_computed

Definition at line 222 of file pr2_kinematics.py.

ofuncode

Specifies the objective function for redundancy optimization.

this property should not be set by the user directly. Use method "self.set_ofuncode" to set this property code legend: 1: midrange distance 0: distance from current configuration

Definition at line 104 of file pr2_kinematics.py.

p_BL_BO

Definition at line 254 of file pr2_kinematics.py.

p_BO

Definition at line 253 of file pr2_kinematics.py.

p_BR_BO

Definition at line 255 of file pr2_kinematics.py.

p_EFL

Definition at line 262 of file pr2_kinematics.py.

p_EFL_WL

Definition at line 122 of file pr2_kinematics.py.

p_EFR

Definition at line 261 of file pr2_kinematics.py.

p_EFR_WR

Definition at line 121 of file pr2_kinematics.py.

p_WL_BL

Definition at line 606 of file pr2_kinematics.py.

p_WR_BR

Definition at line 589 of file pr2_kinematics.py.

phi

Definition at line 805 of file pr2_kinematics.py.

q

A numpy vector of size 18 containing the current values of the joints.

This property should not be manipulated by the user. Use method Set_Config() to change this property. The joints are in the following order: q[0] : Right Arm-Shoulder Pan Joint, q[1] : Right Arm-Shoulder Lift Joint, q[2] : Right Arm-Upper Arm Roll Joint, q[3] : Right Arm-Elbow Flex Joint, q[4] : Right Arm-Forearm Roll Joint, q[5] : Right Arm-Wrist Flex Joint, q[6] : Right Arm-Wrist Roll Joint, q[7] : "h_ts" the telescoping prismatic joint that lifts up and shifts down the trunk and arms, q[8] : "X_BO" the X position of the robot base, q[9] : "Y_BO" the Y position of the robot base, q[10] : "tau" the rotation angle of the robot base around "z" axis, q[11] to q[17] are designated for the left arm in the same order as the right arm

Definition at line 97 of file pr2_kinematics.py.

qh

A numpy vector of size 7 containing the upper bounds of the arm joints.

Definition at line 73 of file pr2_kinematics.py.

ql

A numpy vector of size 7 containing the lower bounds of the arm joints.

Definition at line 70 of file pr2_kinematics.py.

qm

A numpy vector of size 18 containing a set of reference values for the joints.

This parameter can be used as reference joint values for redundancy optimization. The redundancy will be used to set the joints as close as possible to these reference values. This property is by default set as the middle of joint ranges.

Definition at line 80 of file pr2_kinematics.py.

R_B

Definition at line 257 of file pr2_kinematics.py.

R_WL

Definition at line 264 of file pr2_kinematics.py.

R_WL_B

Definition at line 645 of file pr2_kinematics.py.

R_WR

Definition at line 263 of file pr2_kinematics.py.

R_WR_B

Definition at line 631 of file pr2_kinematics.py.

rarm

An instance of class packages.nima.robotics.kinematics.special_geometries.pr2.pr2_arm_kinematics.PR2_ARM() containing the kinematic properties and methods of the right arm.

Definition at line 112 of file pr2_kinematics.py.

Rd

A $ 3 \times 3 $ rotation matrix specifying the desired endeffector orientation for the IK problem.

Recommended not to be set directly. Always use function set_target() to change this property.

Definition at line 139 of file pr2_kinematics.py.

redun_jacob_ext_updated

Definition at line 266 of file pr2_kinematics.py.

redun_jacob_updated

Definition at line 265 of file pr2_kinematics.py.

redundant_parameters_updated

Definition at line 272 of file pr2_kinematics.py.

RJ

Definition at line 915 of file pr2_kinematics.py.

S

Definition at line 251 of file pr2_kinematics.py.

W

Definition at line 106 of file pr2_kinematics.py.

xd

A numpy vector of size 3 representing the desired position of the Endeffector.

Recommended to be used as a read only property. Use function set_target() to change the value of this property

Definition at line 135 of file pr2_kinematics.py.

The documentation for this class was generated from the following file:

pr2_kinematics.py

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