ex_gravity_comp Namespace Reference

Functions
kdl.JntArray	joints (values)
list[float]	gravity (kdl.ChainDynParam dyn, q_values)
int	main ()

Variables
list	HOME_POSE = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
int	STEPS = 7500
float	MAX_DRIFT = 0.0001

Detailed Description

KDL gravity compensation on the Gen3; Python counterpart of src/examples/ex_gravity_comp.cpp.

Function Documentation

gravity()

list[float] ex_gravity_comp.gravity	(	kdl.ChainDynParam	dyn,
			q_values )

Definition at line 24 of file ex_gravity_comp.py.

References joints().

Referenced by main().

joints()

kdl.JntArray ex_gravity_comp.joints

(

values

)

Definition at line 17 of file ex_gravity_comp.py.

Referenced by gravity(), and main().

main()

int ex_gravity_comp.main

(

)

Definition at line 30 of file ex_gravity_comp.py.

References gravity(), joints(), and main().

Referenced by main().

Variable Documentation

HOME_POSE

list ex_gravity_comp.HOME_POSE = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]

Definition at line 12 of file ex_gravity_comp.py.

MAX_DRIFT

float ex_gravity_comp.MAX_DRIFT = 0.0001

Definition at line 14 of file ex_gravity_comp.py.

STEPS

int ex_gravity_comp.STEPS = 7500

Definition at line 13 of file ex_gravity_comp.py.