simple_robot_control::arm::Arm Class Reference
List of all members.
Detailed Description
Definition at line 58 of file arm.py.
Member Function Documentation
| def simple_robot_control::arm::Arm::__init__ |
( |
|
self, |
|
|
|
side | |
|
) |
| | |
| def simple_robot_control::arm::Arm::getIK |
( |
|
self, |
|
|
|
goalPose, |
|
|
|
link_name, |
|
|
|
seedAngles | |
|
) |
| | |
Calls inverse kinematics service for the arm.
goalPose - Pose Stamped message showing desired position of link in coord system
linkName - goal Pose target link name - (r_wrist_roll_link or l_wrist_roll_link)
startAngles - seed angles for IK
Definition at line 104 of file arm.py.
| def simple_robot_control::arm::Arm::getJointAngles |
( |
|
self |
) |
|
| def simple_robot_control::arm::Arm::getJointNames |
( |
|
self |
) |
|
Contacts param server to get controller joints
Definition at line 93 of file arm.py.
| def simple_robot_control::arm::Arm::getState |
( |
|
self |
) |
|
Returns the current state of action client
Definition at line 89 of file arm.py.
| def simple_robot_control::arm::Arm::goToAngle |
( |
|
self, |
|
|
|
angles, |
|
|
|
time, |
|
|
|
wait = True | |
|
) |
| | |
This method moves the arm to the specified joint angles. Users must make
sure to obey safe joint limits.
Definition at line 120 of file arm.py.
| def simple_robot_control::arm::Arm::goToPose |
( |
|
self, |
|
|
|
pos, |
|
|
|
orientation, |
|
|
|
frame_id, |
|
|
|
time, |
|
|
|
wait = True, |
|
|
|
seed_angles = False | |
|
) |
| | |
This method uses getIK to move the x_wrist_roll_link to the
specific point and orientation specified in frame_id's coordinates.
Time specifies the duration of the planned trajectory,
wait whether to block or not.
Definition at line 173 of file arm.py.
| def simple_robot_control::arm::Arm::goToPosition |
( |
|
self, |
|
|
|
pos, |
|
|
|
frame_id, |
|
|
|
time, |
|
|
|
wait = True | |
|
) |
| | |
This method uses getIK to move the x_wrist_roll_link to the
specific pos specified in frame_id's coordinates. Time specifies
the duration of the planned trajectory, wait whether to block or not.
Definition at line 166 of file arm.py.
| def simple_robot_control::arm::Arm::gripperToWrist |
( |
|
self, |
|
|
|
pos, |
|
|
|
orientation | |
|
) |
| | |
| def simple_robot_control::arm::Arm::makePose |
( |
|
self, |
|
|
|
xyz, |
|
|
|
orientation, |
|
|
|
frameID | |
|
) |
| | |
This is a shortcut method for making pose stamped messages
Definition at line 200 of file arm.py.
| def simple_robot_control::arm::Arm::moveGripperToPose |
( |
|
self, |
|
|
|
pos, |
|
|
|
orientation, |
|
|
|
frame_id, |
|
|
|
time, |
|
|
|
wait = True, |
|
|
|
seed_angles = False | |
|
) |
| | |
This method uses gripperToWrist() to calculate the pos_new of the wrist
so that the gripper is moved to the given pos and orientation.
Definition at line 186 of file arm.py.
| def simple_robot_control::arm::Arm::rotateWrist |
( |
|
self, |
|
|
|
angle, |
|
|
|
speed = 2.0, |
|
|
|
wait = True, |
|
|
|
velocity = 0.0 | |
|
) |
| | |
Rotates wrist by angle in radians. speed is the amount of time that it would take for one revolution.
Velocity sets explicit speed to be attained - careful! If velocity is to high, the wrist may rotate in
opposite direction first
Definition at line 138 of file arm.py.
| def simple_robot_control::arm::Arm::sendTraj |
( |
|
self, |
|
|
|
traj, |
|
|
|
wait = True | |
|
) |
| | |
Send the joint trajectory goal to the action server
Definition at line 82 of file arm.py.
Member Data Documentation
The documentation for this class was generated from the following file:
