hrl_pr2_kinematics_tutorials.hrl_pr2.HRL_PR2 Class Reference

List of all members.

Public Member Functions
def	__init__
def	close_gripper
	close the gripper
def	end_effector_pos
def	FK
def	get_joint_angles
def	get_wrist_force
def	get_wrist_force
def	go_cartesian
def	IK
def	joint_states_cb
def	open_gripper
def	set_cartesian
def	set_jointangles
	go to a joint configuration.
def	step
Public Attributes
	arm_state_lock
	fk_srv
	gripper_action_client
	ik_srv
	joint_action_client
	joint_names_list
	joint_nm_list
	r_arm_angles
	r_arm_cart_pub
	r_arm_efforts
	r_arm_pub_l

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Detailed Description

Definition at line 23 of file hrl_pr2.py.

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Constructor & Destructor Documentation

def hrl_pr2_kinematics_tutorials.hrl_pr2.HRL_PR2.__init__

(

self

)

Definition at line 24 of file hrl_pr2.py.

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Member Function Documentation

def hrl_pr2_kinematics_tutorials.hrl_pr2.HRL_PR2.close_gripper	(		self,
			arm,
			effort = 15
	)

close the gripper

Parameters:

effort

- supposed to be in Newtons. (-ve number => max effort)

Definition at line 189 of file hrl_pr2.py.

def hrl_pr2_kinematics_tutorials.hrl_pr2.HRL_PR2.end_effector_pos	(		self,
			arm
	)

Definition at line 147 of file hrl_pr2.py.

def hrl_pr2_kinematics_tutorials.hrl_pr2.HRL_PR2.FK	(		self,
			arm,
			q
	)

Definition at line 92 of file hrl_pr2.py.

def hrl_pr2_kinematics_tutorials.hrl_pr2.HRL_PR2.get_joint_angles	(		self,
			arm
	)

Definition at line 151 of file hrl_pr2.py.

def hrl_pr2_kinematics_tutorials.hrl_pr2.HRL_PR2.get_wrist_force	(		self,
			arm,
			bias = True,
			base_frame = False
	)

Definition at line 163 of file hrl_pr2.py.

def hrl_pr2_kinematics_tutorials.hrl_pr2.HRL_PR2.get_wrist_force	(		self,
			arm
	)

Definition at line 192 of file hrl_pr2.py.

def hrl_pr2_kinematics_tutorials.hrl_pr2.HRL_PR2.go_cartesian	(		self,
			arm
	)

Definition at line 159 of file hrl_pr2.py.

def hrl_pr2_kinematics_tutorials.hrl_pr2.HRL_PR2.IK	(		self,
			arm,
			p,
			rot,
			q_guess
	)

Definition at line 113 of file hrl_pr2.py.

def hrl_pr2_kinematics_tutorials.hrl_pr2.HRL_PR2.joint_states_cb	(		self,
			data
	)

Definition at line 59 of file hrl_pr2.py.

def hrl_pr2_kinematics_tutorials.hrl_pr2.HRL_PR2.open_gripper	(		self,
			arm
	)

Definition at line 184 of file hrl_pr2.py.

def hrl_pr2_kinematics_tutorials.hrl_pr2.HRL_PR2.set_cartesian	(		self,
			arm,
			p,
			rot
	)

Definition at line 167 of file hrl_pr2.py.

def hrl_pr2_kinematics_tutorials.hrl_pr2.HRL_PR2.set_jointangles	(		self,
			arm,
			q,
			duration = 0.15
	)

go to a joint configuration.

Parameters:

q	- list of 7 joint angles in RADIANS.
duration	- how long (SECONDS) before reaching the joint angles.

Definition at line 78 of file hrl_pr2.py.

def hrl_pr2_kinematics_tutorials.hrl_pr2.HRL_PR2.step

(

self

)

Definition at line 144 of file hrl_pr2.py.

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Member Data Documentation

hrl_pr2_kinematics_tutorials::hrl_pr2.HRL_PR2::arm_state_lock

Definition at line 24 of file hrl_pr2.py.

hrl_pr2_kinematics_tutorials::hrl_pr2.HRL_PR2::fk_srv

Definition at line 24 of file hrl_pr2.py.

hrl_pr2_kinematics_tutorials::hrl_pr2.HRL_PR2::gripper_action_client

Definition at line 24 of file hrl_pr2.py.

hrl_pr2_kinematics_tutorials::hrl_pr2.HRL_PR2::ik_srv

Definition at line 24 of file hrl_pr2.py.

hrl_pr2_kinematics_tutorials::hrl_pr2.HRL_PR2::joint_action_client

Definition at line 24 of file hrl_pr2.py.

hrl_pr2_kinematics_tutorials::hrl_pr2.HRL_PR2::joint_names_list

Definition at line 24 of file hrl_pr2.py.

hrl_pr2_kinematics_tutorials::hrl_pr2.HRL_PR2::joint_nm_list

Definition at line 24 of file hrl_pr2.py.

hrl_pr2_kinematics_tutorials::hrl_pr2.HRL_PR2::r_arm_angles

Definition at line 24 of file hrl_pr2.py.

hrl_pr2_kinematics_tutorials::hrl_pr2.HRL_PR2::r_arm_cart_pub

Definition at line 24 of file hrl_pr2.py.

hrl_pr2_kinematics_tutorials::hrl_pr2.HRL_PR2::r_arm_efforts

Definition at line 24 of file hrl_pr2.py.

hrl_pr2_kinematics_tutorials::hrl_pr2.HRL_PR2::r_arm_pub_l

Definition at line 24 of file hrl_pr2.py.

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

• hrl_pr2.py