ex_joint_ctrl Namespace Reference

Functions
int	main ()

Variables
list	HOME_POSE = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
list	TARGET_POSE = [0.3, 0.5, 2.9, -2.0, 0.3, 1.2, 1.3]
float	MOTION_DURATION = 2.0
float	HOLD_TIME = 1.0
float	MAX_ERR = 0.01
float	VEL_GAIN = 500.0
float	KV = 2.0
float	MAX_VEL = 0.6
float	TOL = 0.01
float	TIMEOUT = 5.0

Detailed Description

Joint POSITION then VELOCITY control on the Gen3; Python counterpart of ex_joint_ctrl.cpp.

Function Documentation

main()

int ex_joint_ctrl.main

(

)

Definition at line 23 of file ex_joint_ctrl.py.

References main().

Referenced by main().

Variable Documentation

HOLD_TIME

float ex_joint_ctrl.HOLD_TIME = 1.0

Definition at line 14 of file ex_joint_ctrl.py.

HOME_POSE

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

Definition at line 11 of file ex_joint_ctrl.py.

KV

float ex_joint_ctrl.KV = 2.0

Definition at line 17 of file ex_joint_ctrl.py.

MAX_ERR

float ex_joint_ctrl.MAX_ERR = 0.01

Definition at line 15 of file ex_joint_ctrl.py.

MAX_VEL

float ex_joint_ctrl.MAX_VEL = 0.6

Definition at line 18 of file ex_joint_ctrl.py.

MOTION_DURATION

float ex_joint_ctrl.MOTION_DURATION = 2.0

Definition at line 13 of file ex_joint_ctrl.py.

TARGET_POSE

list ex_joint_ctrl.TARGET_POSE = [0.3, 0.5, 2.9, -2.0, 0.3, 1.2, 1.3]

Definition at line 12 of file ex_joint_ctrl.py.

TIMEOUT

float ex_joint_ctrl.TIMEOUT = 5.0

Definition at line 20 of file ex_joint_ctrl.py.

TOL

float ex_joint_ctrl.TOL = 0.01

Definition at line 19 of file ex_joint_ctrl.py.

VEL_GAIN

float ex_joint_ctrl.VEL_GAIN = 500.0

Definition at line 16 of file ex_joint_ctrl.py.