def __init__(self, kinematics, cycle_time=0.008, timeout=0.1, q_dot_max=1.5): """Initialize the trajectory generator with a timeout. Arguments: kinematics -- The robot kinematics Keyword arguments: cycle_time -- The cycle time of the robot interface(default 0.008) timeout -- Timeout in s after the last joint velocity was sent to make sure the robot does not move further when the motion controller fails. (default 0.1) q_dot_max -- Max joint speed (default 1.5) """ TrajectoryGenerator.__init__(self, kinematics, cycle_time=cycle_time) self._joint_velocity = np.zeros(kinematics.num_of_joints) self._joint_target = None self._has_target = False self._step_count = None self._num_steps = None self._joint_step = None self._last_q = None self._init_event = threading.Event()
def __init__(self, kinematics, cycle_time=0.008, timeout=0.1, interpol=0, q_dot_max=1.5): """Initialize the trajectory generator with a timeout. Arguments: kinematics -- The robot kinematics Keyword arguments: cycle_time -- The cycle time of the robot interface(default 0.008) timeout -- Timeout in s after the last twist was sent to make sure the robot does not move further when the motion controller fails. (default 0.1) interpol -- Interpolation steps calculation of the next step (default 1) q_dot_max -- Max joint speed (default 1.5) """ TrajectoryGenerator.__init__(self, kinematics, cycle_time=cycle_time) self._twist = Twist() self._timeout = timeout self._twist_update_time = time.time() self._log_time_stamp = None self._interpol = interpol self._q_dot_max = q_dot_max self._twist_lock = threading.Lock() self._express_frame = None
def __init__(self, kinematics, cycle_time=0.008, log_cart=False): """Initialize the trajectory generator. Arguments: kinematics -- The robot kinematics Keyword arguments: cycle_time -- The cycle time of the robot interface(default 0.008) log_cart -- Log the cartesian position (default False) """ TrajectoryGenerator.__init__(self, kinematics, cycle_time=cycle_time) self._log_cart = log_cart self._twist_update_time = time.time() self._start_pose = None self._target_pose = None self._interpolator = None self._velocity = None self._has_target = False self._step_count = None self._num_steps = None self._path_length = None self._initializing = False self._last_q = None self._init_event = threading.Event() if self._log_cart: if os.getenv("LOG_PATH") is not None: self._log_cart_file = open( os.path.join(os.getenv("LOG_PATH"), "tlg_cart.csv"), "a") else: self._log_cart_file = open("tlg_cart.csv", "a")
def __init__(self, kinematics, cycle_time=0.008, timeout=0.1, q_dot_max=1.5, q_dotdot_max=10.0): """Initialize the trajectory generator with a timeout. Arguments: kinematics -- The robot kinematics Keyword arguments: cycle_time -- The cycle time of the robot interface(default 0.008) timeout -- Timeout in s after the last joint velocity was sent to make sure the robot does not move further when the motion controller fails. (default 0.1) q_dot_max -- Max joint speed (default 1.5) q_dotdot_max -- Max joint acceleration (default 10.0) """ TrajectoryGenerator.__init__(self, kinematics, cycle_time=cycle_time) self._joint_velocity = np.zeros(kinematics.num_of_joints) self._timeout = timeout self._joint_velocity_update_time = time.time() self._log_time_stamp = None self._q_dot_last = np.zeros(self._kinematics.num_of_joints) self._q_dot_max = q_dot_max self._q_dotdot_max = q_dotdot_max self._lock = threading.Lock()
def __init__(self, kinematics, cycle_time=0.008): """Initialize the Zero Velocity Generator Arguments: kinematics -- The robot kinematics cycle_time -- The cycle time of the robot interface(default 0.008) """ TrajectoryGenerator.__init__(self, kinematics, cycle_time=cycle_time)