Documentation: Super Points

Hard-coded Super Points

These points were selected manually by jogging the robot into a position and looking up the joint space value. Points hard-coded here here.

S = [-np.pi/2, -np.pi/3, -np.pi/6,  0,        np.pi/6, np.pi/3, np.pi/2-.2 ]
L = [.0799,     .4289,    .7338,   .8011,     .7617,   .7616,   .6299      ]
U = [.5850,     .250,    -.1047,  -.1047,     .1899,   .8684,   1.133      ]
R = [2.492,     2.250,    2.019,    np.pi/2,  1.277,   .6686,   .6686      ]
B = [-1.229,   -1.225,    -.950,    0,        .6196,   1.362,   1.526      ]
T = [np.pi,     np.pi,    np.pi,    np.pi,    np.pi,   np.pi,   np.pi      ]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5