both_arm_cmder Namespace Reference

Functions
def	get_virtual_gloves
def	get_virtual_table
	Sets up a virtual table in front of the robot.
Variables
tuple	client
tuple	cmder = ArmCmder(client, ranges, recovery_client, recovery_positions)
string	COLLISION_TOPIC = "collision_object"
tuple	glove_pub = rospy.Publisher("attached_collision_object", AttachedCollisionObject, latch = True)
string	PKG = 'life_test'
	Sends goals to arm to move it in collision free way.
dictionary	ranges
tuple	recovery_client
dictionary	recovery_positions
tuple	table_pub = rospy.Publisher(COLLISION_TOPIC, CollisionObject, latch = True)

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Function Documentation

def both_arm_cmder::get_virtual_gloves

(

)

Definition at line 88 of file both_arm_cmder.py.

def both_arm_cmder::get_virtual_table

(

height = 0.42

)

Sets up a virtual table in front of the robot.

Definition at line 128 of file both_arm_cmder.py.

---

Variable Documentation

tuple both_arm_cmder::client

Initial value:

actionlib.SimpleActionClient('collision_free_arm_trajectory_action_both_arms', 
                                          JointTrajectoryAction)

Definition at line 170 of file both_arm_cmder.py.

tuple both_arm_cmder::cmder = ArmCmder(client, ranges, recovery_client, recovery_positions)

Definition at line 190 of file both_arm_cmder.py.

string both_arm_cmder::COLLISION_TOPIC = "collision_object"

Definition at line 51 of file both_arm_cmder.py.

tuple both_arm_cmder::glove_pub = rospy.Publisher("attached_collision_object", AttachedCollisionObject, latch = True)

Definition at line 180 of file both_arm_cmder.py.

string both_arm_cmder::PKG = 'life_test'

Sends goals to arm to move it in collision free way.

Author:

Kevin Watts

Definition at line 33 of file both_arm_cmder.py.

dictionary both_arm_cmder::ranges

Initial value:

{
    'r_shoulder_pan_joint': (-2.0, -0.4),
    'r_shoulder_lift_joint': (-0.4, 1.25),
    'r_upper_arm_roll_joint': (-3.1, 0),
    'r_elbow_flex_joint': (-2.0, -0.05),
    'r_forearm_roll_joint': (-3.14, 3.14),
    'r_wrist_flex_joint': (-1.8, -0.2),
    'r_wrist_roll_joint': (-3.14, 3.14),
    'l_shoulder_pan_joint': (0.4, 2.0),
    'l_shoulder_lift_joint': (-0.4, 1.25),
    'l_upper_arm_roll_joint': (0, 3.1),
    'l_elbow_flex_joint': (-2.0, -0.05),
    'l_forearm_roll_joint': (-3.14, 3.14),
    'l_wrist_flex_joint': (-1.8, -0.2),
    'l_wrist_roll_joint': (-3.14, 3.14)
}

Definition at line 54 of file both_arm_cmder.py.

tuple both_arm_cmder::recovery_client

Initial value:

actionlib.SimpleActionClient('both_arms_controller/joint_trajectory_action',
                                                JointTrajectoryAction)

Definition at line 187 of file both_arm_cmder.py.

dictionary both_arm_cmder::recovery_positions

Initial value:

{
    'r_shoulder_pan_joint': - math.pi / 4,
    'r_shoulder_lift_joint': 0.0,
    'r_upper_arm_roll_joint': 0.0,
    'r_elbow_flex_joint': 0.0,
    'r_forearm_roll_joint': 0.0,
    'r_wrist_flex_joint': 0.0,
    'r_wrist_roll_joint': 0.0,
    'l_shoulder_pan_joint': math.pi / 4,
    'l_shoulder_lift_joint': 0.0,
    'l_upper_arm_roll_joint': 0.0,
    'l_elbow_flex_joint': 0.0,
    'l_forearm_roll_joint': 0.0,
    'l_wrist_flex_joint': 0.0,
    'l_wrist_roll_joint': 0.0
}

Definition at line 71 of file both_arm_cmder.py.

tuple both_arm_cmder::table_pub = rospy.Publisher(COLLISION_TOPIC, CollisionObject, latch = True)

Definition at line 177 of file both_arm_cmder.py.