Public Member Functions | |
| def | __init__ |
| def | check_cartesian_path |
| check a Cartesian path for consistent, non-colliding IK solutions start_pose and end_pose are PoseStamped messages with the wrist poses start_angles are angles to try to stay close to num_steps is the number of interpolation steps to use (if 0, use pos_spacing and rot_spacing instead to calculate the number of steps) pos_spacing is max wrist translation in meters between trajectory points rot_spacing is max wrist rotation in radians between trajectory points consistent_angle is the max joint angle change before 2 steps are declared inconsistent collision_check_resolution is the resolution at which to check collisions (0 or 1 for every) steps_before_abort is the number of invalid steps found before aborting (-1 to ignore) if collision_aware is 0, ignore collisions ordered_collision_operations is an optional list of collision operations to feed to IK to modify the collision space link_padding is an optional list of link paddings to feed to IK to modify the robot collision padding IK_robot_state is an optional RobotState message to pass to IK if start_from_end is 1, find an IK solution for the end first and work backwards returns the joint angle trajectory and the error codes (0=good, 1=collisions, 2=inconsistent, 3=out of reach, 4=aborted before checking) | |
| def | check_consistent |
| check that all differences between angles1 and angles2 (lists of joint angles) are within consistent_range | |
| def | check_services_and_get_ik_info |
| def | check_state_validity |
| check whether a set of joint angles is in collision with the environment allows the same modifications as IK | |
| def | draw_pose |
| draw a PoseStamped in rviz as a set of arrows (x=red, y=green, z=blue) id is the id number for the x-arrow (y is id+1, z is id+2) | |
| def | interpolate_cartesian |
| interpolate a Cartesian path (expressed as pos and rot lists) pos_spacing is max wrist translation in meters between trajectory points rot_spacing is max wrist rotation in radians between trajectory points num_steps overrides the number of steps (if != 0, ignore pos_spacing and rot_spacing) | |
| def | lists_to_pose_stamped |
| convert pos and rot lists (relative to in_frame) to a poseStamped (relative to to_frame) | |
| def | normalize_vect |
| normalize a vector | |
| def | point_stamped_to_list |
| convert a pointStamped to a pos list in a desired frame | |
| def | pose_stamped_to_lists |
| convert a poseStamped to pos and rot (quaternion) lists in a desired frame | |
| def | quat_angle |
| angle between two quaternions (as lists) | |
| def | quaternion_stamped_to_list |
| convert a QuaternionStamped to a quat list in a desired frame | |
| def | run_fk |
| run forward kinematics on a set of 7 joint angles link_name specifies the desired output frame returns a PoseStamped | |
| def | run_ik |
| run inverse kinematics on a PoseStamped (7-dof pose (position + quaternion orientation) + header specifying the frame of the pose) tries to stay close to double start_angles[7] returns the solution angles as double solution[7] link_name is the link frame to position at pose if collision_aware is 1, runs ik_service_with_collision ordered_collision_operations is a list of collision operations to feed to IK to modify the collision space | |
| def | run_query |
| get the joint names and limits, and the possible link names for running IK | |
| def | trajectory_times_and_vels |
| generate appropriate times and joint velocities for a joint path (such as that output by check_cartesian_path) max_joint_vels is a list of maximum velocities to move the arm joints max_joint_accs is a list of maximum accelerations to move the arm joints (can be ignored) starts and ends in stop | |
| def | vect_norm |
| vector norm of a list | |
| def | vector3_stamped_to_list |
| convert a Vector3Stamped to a rot list in a desired frame | |
Public Attributes | |
| error_code_dict | |
| link_name | |
| marker_pub | |
| perception_running | |
| pose_id_set | |
| srvroot | |
| start_angles_list | |
| tf_listener | |
Private Attributes | |
| _check_state_validity_service | |
| _fk_service | |
| _ik_service | |
| _ik_service_with_collision | |
| _query_service | |
Definition at line 60 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::__init__ | ( | self, | ||
| whicharm, | ||||
tf_listener = None, |
||||
wait_for_services = 1 | ||||
| ) |
Definition at line 64 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::check_cartesian_path | ( | self, | ||
| start_pose, | ||||
| end_pose, | ||||
| start_angles, | ||||
pos_spacing = 0.01, |
||||
rot_spacing = 0.1, |
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consistent_angle = math.pi/9., |
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collision_aware = 1, |
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collision_check_resolution = 1, |
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steps_before_abort = -1, |
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num_steps = 0, |
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ordered_collision_operations = None, |
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start_from_end = 0, |
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IK_robot_state = None, |
||||
link_padding = None, |
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use_additional_start_angles = 0 | ||||
| ) |
check a Cartesian path for consistent, non-colliding IK solutions start_pose and end_pose are PoseStamped messages with the wrist poses start_angles are angles to try to stay close to num_steps is the number of interpolation steps to use (if 0, use pos_spacing and rot_spacing instead to calculate the number of steps) pos_spacing is max wrist translation in meters between trajectory points rot_spacing is max wrist rotation in radians between trajectory points consistent_angle is the max joint angle change before 2 steps are declared inconsistent collision_check_resolution is the resolution at which to check collisions (0 or 1 for every) steps_before_abort is the number of invalid steps found before aborting (-1 to ignore) if collision_aware is 0, ignore collisions ordered_collision_operations is an optional list of collision operations to feed to IK to modify the collision space link_padding is an optional list of link paddings to feed to IK to modify the robot collision padding IK_robot_state is an optional RobotState message to pass to IK if start_from_end is 1, find an IK solution for the end first and work backwards returns the joint angle trajectory and the error codes (0=good, 1=collisions, 2=inconsistent, 3=out of reach, 4=aborted before checking)
Definition at line 588 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::check_consistent | ( | self, | ||
| angles1, | ||||
| angles2, | ||||
| consistent_range | ||||
| ) |
check that all differences between angles1 and angles2 (lists of joint angles) are within consistent_range
Definition at line 480 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::check_services_and_get_ik_info | ( | self | ) |
Definition at line 127 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::check_state_validity | ( | self, | ||
| joint_angles, | ||||
ordered_collision_operations = None, |
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robot_state = None, |
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link_padding = None | ||||
| ) |
check whether a set of joint angles is in collision with the environment allows the same modifications as IK
Definition at line 288 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::draw_pose | ( | self, | ||
| pose_stamped, | ||||
| id | ||||
| ) |
draw a PoseStamped in rviz as a set of arrows (x=red, y=green, z=blue) id is the id number for the x-arrow (y is id+1, z is id+2)
Definition at line 148 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::interpolate_cartesian | ( | self, | ||
| start_pos, | ||||
| start_rot, | ||||
| end_pos, | ||||
| end_rot, | ||||
| pos_spacing, | ||||
| rot_spacing, | ||||
num_steps = 0 | ||||
| ) |
interpolate a Cartesian path (expressed as pos and rot lists) pos_spacing is max wrist translation in meters between trajectory points rot_spacing is max wrist rotation in radians between trajectory points num_steps overrides the number of steps (if != 0, ignore pos_spacing and rot_spacing)
Definition at line 445 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::lists_to_pose_stamped | ( | self, | ||
| pos, | ||||
| rot, | ||||
| in_frame, | ||||
| to_frame | ||||
| ) |
convert pos and rot lists (relative to in_frame) to a poseStamped (relative to to_frame)
Definition at line 404 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::normalize_vect | ( | self, | ||
| vect | ||||
| ) |
normalize a vector
Definition at line 426 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::point_stamped_to_list | ( | self, | ||
| point, | ||||
| frame | ||||
| ) |
convert a pointStamped to a pos list in a desired frame
Definition at line 316 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::pose_stamped_to_lists | ( | self, | ||
| pose, | ||||
| frame | ||||
| ) |
convert a poseStamped to pos and rot (quaternion) lists in a desired frame
Definition at line 379 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::quat_angle | ( | self, | ||
| quat1, | ||||
| quat2 | ||||
| ) |
angle between two quaternions (as lists)
Definition at line 431 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::quaternion_stamped_to_list | ( | self, | ||
| quaternion, | ||||
| frame | ||||
| ) |
convert a QuaternionStamped to a quat list in a desired frame
Definition at line 358 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::run_fk | ( | self, | ||
| angles, | ||||
| link_name | ||||
| ) |
run forward kinematics on a set of 7 joint angles link_name specifies the desired output frame returns a PoseStamped
Definition at line 210 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::run_ik | ( | self, | ||
| pose_stamped, | ||||
| start_angles, | ||||
| link_name, | ||||
collision_aware = 1, |
||||
ordered_collision_operations = None, |
||||
IK_robot_state = None, |
||||
link_padding = None | ||||
| ) |
run inverse kinematics on a PoseStamped (7-dof pose (position + quaternion orientation) + header specifying the frame of the pose) tries to stay close to double start_angles[7] returns the solution angles as double solution[7] link_name is the link frame to position at pose if collision_aware is 1, runs ik_service_with_collision ordered_collision_operations is a list of collision operations to feed to IK to modify the collision space
Definition at line 241 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::run_query | ( | self | ) |
get the joint names and limits, and the possible link names for running IK
Definition at line 191 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::trajectory_times_and_vels | ( | self, | ||
| joint_path, | ||||
max_joint_vels = [.2]*7, |
||||
max_joint_accs = [.5]*7 | ||||
| ) |
generate appropriate times and joint velocities for a joint path (such as that output by check_cartesian_path) max_joint_vels is a list of maximum velocities to move the arm joints max_joint_accs is a list of maximum accelerations to move the arm joints (can be ignored) starts and ends in stop
Definition at line 490 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::vect_norm | ( | self, | ||
| vect | ||||
| ) |
vector norm of a list
Definition at line 421 of file ik_utilities.py.
| def interpolated_ik_motion_planner::ik_utilities::IKUtilities::vector3_stamped_to_list | ( | self, | ||
| vector3, | ||||
| frame | ||||
| ) |
convert a Vector3Stamped to a rot list in a desired frame
Definition at line 337 of file ik_utilities.py.
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