utils_r2_py_controller.py

"""
Raven 2 Control - Control software for the Raven II robot
Copyright (C) 2005-2022  Andrew Lewis, Yun-Hsuan Su, Haonan Peng, Blake Hannaford,
and the University of Washington BioRobotics Laboratory

This file is part of Raven 2 Control.

Raven 2 Control is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

Raven 2 Control is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with Raven 2 Control.  If not, see <http://www.gnu.org/licenses/>.



raven_py_controller.py

Python controller for RAVEN II using CRTK API

date Jan 10, 2022
author Haonan Peng, Yun-Hsuan Su, Andrew Lewis, 
"""

# import rospy
import numpy as np



def rand_from_range(rand_range):
    rand_num = rand_range[0] + np.random.rand() * (rand_range[0] - rand_range[1])
    
    return rand_num