Public Member Functions | |
| def | __init__ |
| def | adjust_elbow |
| def | blind_move |
| def | build_follow_trajectory |
| def | build_trajectory |
| def | check_torso |
| def | curr_pose |
| def | fast_move |
| def | form_ik_request |
| def | full_ik_check |
| def | gripper |
| def | hand_frame_move |
| def | is_stopped |
| def | move_torso |
| def | send_joint_angles |
| def | send_traj_point |
| def | update_joint_state |
| def | update_torso_state |
| def | wait_for_stop |
Public Attributes | |
| arm | |
| arm_follow_traj_client | |
| arm_traj_client | |
| dist | |
| fk_info | |
| fk_info_proxy | |
| fk_pose_proxy | |
| gripper_client | |
| ik_info | |
| ik_info_proxy | |
| ik_pose_proxy | |
| joint_state_act | |
| joint_state_des | |
| joint_state_time | |
| log_out | |
| set_planning_scene_diff | |
| set_planning_scene_diff_name | |
| test_pose | |
| tf | |
| torso_client | |
| torso_state | |
Static Public Attributes | |
| int | dist = 0 |
| dictionary | move_arm_error_dict |
| float | standoff = 0.368 |
| float | torso_max = 0.299 |
| float | torso_min = 0.001 |
| wipe_started = False | |
Detailed Description
Definition at line 27 of file pr2_arms.py.
Constructor & Destructor Documentation
| def assistive_teleop.pr2_arms.PR2Arm.__init__ | ( | self, | |
| arm, | |||
tfListener = None |
|||
| ) |
Reimplemented in assistive_teleop.pr2_arms.PR2Arm_Planning.
Definition at line 77 of file pr2_arms.py.
Member Function Documentation
| def assistive_teleop.pr2_arms.PR2Arm.adjust_elbow | ( | self, | |
| f32 | |||
| ) |
Definition at line 218 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.blind_move | ( | self, | |
| ps, | |||
duration = None |
|||
| ) |
Definition at line 364 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.build_follow_trajectory | ( | self, | |
| traj | |||
| ) |
Definition at line 336 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.build_trajectory | ( | self, | |
| finish, | |||
start = None, |
|||
ik_space = 0.005, |
|||
duration = None, |
|||
tot_points = None |
|||
| ) |
Definition at line 259 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.check_torso | ( | self, | |
| request | |||
| ) |
For unreachable goals, check to see if moving the torso can solve the problem. If yes, return True, and torso adjustment needed. If no, return False, and best possible Torso adjustment.
Definition at line 370 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.curr_pose | ( | self | ) |
Definition at line 189 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.fast_move | ( | self, | |
| ps, | |||
time = 0. |
|||
| ) |
Definition at line 355 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.form_ik_request | ( | self, | |
| ps | |||
| ) |
Definition at line 464 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.full_ik_check | ( | self, | |
| ps | |||
| ) |
Definition at line 424 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.gripper | ( | self, | |
| position, | |||
effort = 30 |
|||
| ) |
Definition at line 230 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.hand_frame_move | ( | self, | |
| x, | |||
y = 0, |
|||
z = 0, |
|||
duration = None |
|||
| ) |
Definition at line 253 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.is_stopped | ( | self | ) |
Definition at line 209 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.move_torso | ( | self, | |
| pos | |||
| ) |
Definition at line 348 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.send_joint_angles | ( | self, | |
| angles, | |||
duration = None |
|||
| ) |
Definition at line 477 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.send_traj_point | ( | self, | |
| point, | |||
time = None |
|||
| ) |
Definition at line 482 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.update_joint_state | ( | self, | |
| jtcs | |||
| ) |
Definition at line 181 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.update_torso_state | ( | self, | |
| jtcs | |||
| ) |
Definition at line 186 of file pr2_arms.py.
| def assistive_teleop.pr2_arms.PR2Arm.wait_for_stop | ( | self, | |
wait_time = 1, |
|||
timeout = 60 |
|||
| ) |
Definition at line 200 of file pr2_arms.py.
Member Data Documentation
Definition at line 77 of file pr2_arms.py.
Definition at line 78 of file pr2_arms.py.
Definition at line 78 of file pr2_arms.py.
int assistive_teleop::pr2_arms.PR2Arm::dist = 0 [static] |
Definition at line 33 of file pr2_arms.py.
Definition at line 253 of file pr2_arms.py.
Definition at line 80 of file pr2_arms.py.
Definition at line 80 of file pr2_arms.py.
Definition at line 80 of file pr2_arms.py.
Definition at line 80 of file pr2_arms.py.
Definition at line 80 of file pr2_arms.py.
Definition at line 80 of file pr2_arms.py.
Definition at line 80 of file pr2_arms.py.
Definition at line 181 of file pr2_arms.py.
Definition at line 181 of file pr2_arms.py.
Definition at line 181 of file pr2_arms.py.
Definition at line 80 of file pr2_arms.py.
dictionary assistive_teleop::pr2_arms.PR2Arm::move_arm_error_dict [static] |
Definition at line 35 of file pr2_arms.py.
Definition at line 80 of file pr2_arms.py.
Definition at line 80 of file pr2_arms.py.
float assistive_teleop::pr2_arms.PR2Arm::standoff = 0.368 [static] |
Definition at line 30 of file pr2_arms.py.
Definition at line 80 of file pr2_arms.py.
Definition at line 78 of file pr2_arms.py.
Definition at line 78 of file pr2_arms.py.
float assistive_teleop::pr2_arms.PR2Arm::torso_max = 0.299 [static] |
Definition at line 32 of file pr2_arms.py.
float assistive_teleop::pr2_arms.PR2Arm::torso_min = 0.001 [static] |
Definition at line 31 of file pr2_arms.py.
Definition at line 186 of file pr2_arms.py.
Definition at line 29 of file pr2_arms.py.
The documentation for this class was generated from the following file: