hrl_cody_arms.arm_server.MekaArmServer Class Reference

List of all members.

Public Member Functions
def	__init__
def	get_joint_accelerations
def	get_joint_angles
def	get_joint_torques
def	get_joint_velocities
def	get_motor_temps
def	get_wrist_force
	3X1 numpy matrix of forces measured by the wrist FT sensor.
def	get_wrist_force_netft
def	get_wrist_torque
def	initialize_gripper
def	initialize_joints
def	is_motor_power_on
def	l_alpha_cb
def	l_jep_cb
def	maintain_configuration
def	motors_off
def	motors_on
def	power_on
def	r_alpha_cb
def	r_jep_cb
def	safeop_things
def	set_alpha
def	set_arm_settings
def	set_jep
def	step
def	step_ros
def	stop
Public Attributes
	alph_l_pub
	alph_r_pub
	arm_settings
	arms
	cb_lock
	enable_left_arm
	enable_right_arm
	force_l_pub
	force_r_pub
	force_raw_l_pub
	force_raw_r_pub
	ftclient_l
	ftclient_r
	fts
	jep_l_pub
	jep_r_pub
	joint_list_dict
	joint_names_list
	joint_state_pub
	l_jep
	left_arm_ft
	mot_temp_l_pub
	mot_temp_r_pub
	P_force
	proxy
	pwr
	pwr_state_pub
	q_l
	q_l_pub
	q_lHOT
	q_r
	q_r_pub
	q_rHOT
	qdot_l_pub
	qdot_r_pub
	R_force
	r_jep
	NOTE - meka's set_theta_deg takes angle in radians.
	right_arm_ft
	right_gripper
	time_stamp
	torque_l_pub
	torque_r_pub

---

Detailed Description

Definition at line 95 of file arm_server.py.

---

Constructor & Destructor Documentation

def hrl_cody_arms.arm_server.MekaArmServer.__init__	(		self,
			right_arm_settings = None,
			left_arm_settings = None,
			use_netft_r = False,
			use_netft_l = False,
			enable_right_arm = True,
			enable_left_arm = True
	)

Definition at line 96 of file arm_server.py.

---

Member Function Documentation

def hrl_cody_arms.arm_server.MekaArmServer.get_joint_accelerations	(		self,
			arm
	)

Parameters:

arm	- 'left_arm' or 'right_arm'

Returns:

list of 7 joint accelerations in RADIANS/s^2. according to meka's coordinate frames.

Definition at line 618 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.get_joint_angles	(		self,
			arm
	)

returns list of 7 joint angles in RADIANS.
    according to meka's coordinate frames.

Definition at line 640 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.get_joint_torques	(		self,
			arm
	)

returns list of 7 joint torques in mNm

Definition at line 630 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.get_joint_velocities	(		self,
			arm
	)

Parameters:

arm	- 'left_arm' or 'right_arm'

Returns:

list of 7 joint velocities in RADIANS/s. according to meka's coordinate frames.

Definition at line 626 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.get_motor_temps	(		self,
			arm
	)

returns list of 7 motor temperatures in Celsius

Definition at line 635 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.get_wrist_force	(		self,
			arm
	)

3X1 numpy matrix of forces measured by the wrist FT sensor.

(This is the force that the environment is applying on the wrist)

Parameters:

arm	- 'left_arm' or 'right_arm'

Returns:

in SI units coord frame - tool tip coord frame (parallel to the base frame in the home position) 2010/2/5 Advait, Aaron King, Tiffany verified that coordinate frame from Meka is the left-hand coordinate frame.

Definition at line 559 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.get_wrist_force_netft	(		self,
			arm
	)

Definition at line 589 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.get_wrist_torque	(		self,
			arm
	)

Definition at line 602 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.initialize_gripper

(

self

)

Definition at line 351 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.initialize_joints	(		self,
			right_arm_settings,
			left_arm_settings
	)

Definition at line 267 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.is_motor_power_on

(

self

)

Definition at line 501 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.l_alpha_cb	(		self,
			msg
	)

Definition at line 683 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.l_jep_cb	(		self,
			msg
	)

Definition at line 646 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.maintain_configuration

(

self

)

Definition at line 518 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.motors_off	(		self,
			msg = None
	)

Definition at line 509 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.motors_on

(

self

)

Definition at line 512 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.power_on

(

self

)

Definition at line 539 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.r_alpha_cb	(		self,
			msg
	)

Definition at line 678 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.r_jep_cb	(		self,
			msg
	)

Definition at line 651 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.safeop_things

(

self

)

Definition at line 256 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.set_alpha	(		self,
			arm,
			alpha
	)

Definition at line 688 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.set_arm_settings	(		self,
			right_arm_settings,
			left_arm_settings
	)

Definition at line 211 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.set_jep	(		self,
			arm,
			q
	)

Parameters:

q	- list of 7 joint angles in RADIANS. according to meka's coordinate frames.

Definition at line 658 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.step

(

self

)

Definition at line 357 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.step_ros

(

self

)

Definition at line 380 of file arm_server.py.

def hrl_cody_arms.arm_server.MekaArmServer.stop	(		self,
			msg = None
	)

Definition at line 547 of file arm_server.py.

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Member Data Documentation

hrl_cody_arms::arm_server.MekaArmServer::alph_l_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::alph_r_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::arm_settings

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::arms

Definition at line 267 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::cb_lock

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::enable_left_arm

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::enable_right_arm

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::force_l_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::force_r_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::force_raw_l_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::force_raw_r_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::ftclient_l

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::ftclient_r

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::fts

Definition at line 267 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::jep_l_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::jep_r_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::joint_list_dict

Definition at line 267 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::joint_names_list

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::joint_state_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::l_jep

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::left_arm_ft

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::mot_temp_l_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::mot_temp_r_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::P_force

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::proxy

Definition at line 267 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::pwr

Definition at line 267 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::pwr_state_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::q_l

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::q_l_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::q_lHOT

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::q_r

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::q_r_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::q_rHOT

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::qdot_l_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::qdot_r_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::R_force

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::r_jep

NOTE - meka's set_theta_deg takes angle in radians.

self.joint_list_dict[arm][i].set_theta_deg(qi) Not anymore. (Advait Aug 27, 2009)

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::right_arm_ft

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::right_gripper

Definition at line 351 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::time_stamp

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::torque_l_pub

Definition at line 96 of file arm_server.py.

hrl_cody_arms::arm_server.MekaArmServer::torque_r_pub

Definition at line 96 of file arm_server.py.

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The documentation for this class was generated from the following file:

• arm_server.py