hrl_pr2_door_opening.pr2_arms.PR2Arms Class Reference

List of all members.

Public Member Functions
def	__init__
def	bias_wrist_ft
def	close_gripper
	Close the gripper.
def	end_effector_pos
	Returns the current position, rotation of the arm.
def	get_cep_jtt
def	get_ee_jtt
def	get_force_from_torques
	Returns the list of 7 joint angles.
def	get_jep
def	get_joint_angles
	Returns the list of 7 joint angles.
def	get_wrist_force_ati
def	get_wrist_force_estimate
def	go_cep_jtt
def	joint_states_cb
	Callback for /joint_states topic.
def	l_cart_state_cb
def	move_gripper
def	open_gripper
	Open the gripper.
def	r_cart_state_cb
def	set_cep_jtt
def	set_jep
Public Attributes
	arm_angles
	arm_efforts
	arm_state_lock
	arms
	cep_marker_id
	get_wrist_force
	gripper_action_client
	jep
	joint_action_client
	joint_names_list
	l_arm_cart_pub
	l_cep_pos
	l_cep_rot
	marker_pub
	r_arm_cart_pub
	r_arm_ftc
	r_arm_ftc_estimate
	r_cep_pos
	r_cep_pos_hooktip
	r_cep_rot
	r_ee_pos
	r_ee_rot
	tf_lstnr
	torso_position

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Detailed Description

Definition at line 63 of file pr2_arms.py.

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Constructor & Destructor Documentation

def hrl_pr2_door_opening.pr2_arms.PR2Arms.__init__	(		self,
			primary_ft_sensor
	)

Definition at line 64 of file pr2_arms.py.

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Member Function Documentation

def hrl_pr2_door_opening.pr2_arms.PR2Arms.bias_wrist_ft	(		self,
			arm
	)

Definition at line 383 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.close_gripper	(		self,
			arm,
			effort = 15
	)

Close the gripper.

Parameters:

arm	0 for right, 1 for left

Definition at line 402 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.end_effector_pos	(		self,
			arm
	)

Returns the current position, rotation of the arm.

Parameters:

arm	0 for right, 1 for left

Returns:

rotation, position

Definition at line 228 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.get_cep_jtt	(		self,
			arm,
			hook_tip = False
	)

Definition at line 281 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.get_ee_jtt	(		self,
			arm
	)

Definition at line 275 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.get_force_from_torques	(		self,
			arm
	)

Returns the list of 7 joint angles.

Parameters:

arm	0 for right, 1 for left

Returns:

list of 7 joint angles

Definition at line 369 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.get_jep	(		self,
			arm
	)

Definition at line 269 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.get_joint_angles	(		self,
			arm
	)

Returns the list of 7 joint angles.

Parameters:

arm	0 for right, 1 for left

Returns:

list of 7 joint angles

Definition at line 235 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.get_wrist_force_ati	(		self,
			arm,
			bias = True,
			base_frame = False
	)

Definition at line 352 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.get_wrist_force_estimate	(		self,
			arm,
			bias = True,
			base_frame = False
	)

Definition at line 337 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.go_cep_jtt	(		self,
			arm,
			p
	)

Definition at line 319 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.joint_states_cb	(		self,
			data
	)

Callback for /joint_states topic.

Updates current joint angles and efforts for the arms constantly

Parameters:

data	JointState message recieved from the /joint_states topic

Definition at line 129 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.l_cart_state_cb	(		self,
			msg
	)

Definition at line 217 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.move_gripper	(		self,
			arm,
			amount = 0.08,
			effort = 15
	)

Definition at line 391 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.open_gripper	(		self,
			arm
	)

Open the gripper.

Parameters:

arm	0 for right, 1 for left

Definition at line 397 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.r_cart_state_cb	(		self,
			msg
	)

Definition at line 169 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.set_cep_jtt	(		self,
			arm,
			p,
			rot = None
	)

Definition at line 291 of file pr2_arms.py.

def hrl_pr2_door_opening.pr2_arms.PR2Arms.set_jep	(		self,
			arm,
			q,
			duration = 0.15
	)

Definition at line 243 of file pr2_arms.py.

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Member Data Documentation

hrl_pr2_door_opening::pr2_arms.PR2Arms::arm_angles

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::arm_efforts

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::arm_state_lock

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::arms

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::cep_marker_id

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::get_wrist_force

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::gripper_action_client

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::jep

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::joint_action_client

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::joint_names_list

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::l_arm_cart_pub

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::l_cep_pos

Definition at line 217 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::l_cep_rot

Definition at line 217 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::marker_pub

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::r_arm_cart_pub

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::r_arm_ftc

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::r_arm_ftc_estimate

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::r_cep_pos

Definition at line 169 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::r_cep_pos_hooktip

Definition at line 169 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::r_cep_rot

Definition at line 169 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::r_ee_pos

Definition at line 169 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::r_ee_rot

Definition at line 169 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::tf_lstnr

Definition at line 64 of file pr2_arms.py.

hrl_pr2_door_opening::pr2_arms.PR2Arms::torso_position

Definition at line 64 of file pr2_arms.py.

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

• pr2_arms.py