Performs testing PR2 gripper tip sensors. More...
Public Member Functions | |
| def | __init__ |
| def | check_connected |
| Make sure we have correct number of gripper sensors on each tip, and all are OK. | |
| def | close_gripper |
| Command close at desired force, wait for 4 sec. | |
| def | increment_value |
| Increment commanded force by increment. | |
| def | open_gripper |
| Command open, wait for 1 sec. | |
| def | pressure_callback |
| Callback for gripper pressure topic. | |
| def | process_results |
| Check pass/fail, write HTML result of all data, parameters. | |
| def | record_increase |
| Record sum of gripper tip pressure at the commanded force. | |
| def | record_zero_val |
| Record "zero" of gripper, when tips are open. | |
| def | send_results |
| Send test results to qualification system. | |
| def | test_failed_service_call |
| Record errors in analysis. | |
Public Attributes | |
| check_connect_only | |
| data_sent | |
| expect_no_connect | |
| fingertip_refresh | |
| force | |
| increment | |
| initial | |
| l_finger_tip | |
| num_increments | |
| num_sensors | |
| num_sensors_outside | |
| pub | |
| r_finger_tip | |
| result_service | |
| set_cmd | |
| starting_sum0 | |
| starting_sum1 | |
| x0 | |
| x1 | |
| x2 | |
| x3 | |
Private Member Functions | |
| def | _check_diff |
| At every point, check differences bwt tips. | |
| def | _check_tol |
| At every point, check abs dev from expected. | |
| def | _write_data |
| Write pressure at each datapoint for both tips. | |
| def | _write_equation |
| Write fit equation as HTML table. | |
| def | _write_params |
| Write test params as HTML table. | |
| def | _write_tols |
| Write tolerances as HTML table. | |
Private Attributes | |
| _connected_data | |
| _connection_data | |
| _diff_avg_abs_fail | |
| _diff_avg_abs_quest | |
| _diff_avg_fail | |
| _diff_avg_quest | |
| _diff_max_fail | |
| _diff_max_quest | |
| _expected | |
| _forces | |
| _mutex | |
| _pressure_topic | |
| _tip0 | |
| _tip1 | |
| _tol_avg_fail | |
| _tol_avg_quest | |
| _tol_max_fail | |
| _tol_max_quest | |
Performs testing PR2 gripper tip sensors.
Definition at line 63 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::__init__ | ( | self | ) |
Definition at line 64 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::_check_diff | ( | self | ) | [private] |
At every point, check differences bwt tips.
Definition at line 353 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::_check_tol | ( | self | ) | [private] |
At every point, check abs dev from expected.
Definition at line 396 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::_write_data | ( | self | ) | [private] |
Write pressure at each datapoint for both tips.
Definition at line 331 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::_write_equation | ( | self | ) | [private] |
Write fit equation as HTML table.
Definition at line 287 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::_write_params | ( | self | ) | [private] |
Write test params as HTML table.
Definition at line 300 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::_write_tols | ( | self | ) | [private] |
Write tolerances as HTML table.
Definition at line 315 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::check_connected | ( | self | ) |
Make sure we have correct number of gripper sensors on each tip, and all are OK.
Definition at line 161 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::close_gripper | ( | self | ) |
Command close at desired force, wait for 4 sec.
Definition at line 155 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::increment_value | ( | self | ) |
Increment commanded force by increment.
Definition at line 256 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::open_gripper | ( | self | ) |
Command open, wait for 1 sec.
Definition at line 149 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::pressure_callback | ( | self, | ||
| data | ||||
| ) |
Callback for gripper pressure topic.
Definition at line 124 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::process_results | ( | self | ) |
Check pass/fail, write HTML result of all data, parameters.
Definition at line 455 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::record_increase | ( | self | ) |
Record sum of gripper tip pressure at the commanded force.
Definition at line 269 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::record_zero_val | ( | self | ) |
Record "zero" of gripper, when tips are open.
Definition at line 260 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::send_results | ( | self, | ||
| test_result | ||||
| ) |
Send test results to qualification system.
Definition at line 140 of file fingertip_qualification.py.
| def fingertip_qualification::FingertipQualification::test_failed_service_call | ( | self, | ||
except_str = '' | ||||
| ) |
Record errors in analysis.
Definition at line 130 of file fingertip_qualification.py.
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