Definition at line 242 of file hrl_controller_manager.py.
def hrl_pr2_lib.hrl_controller_manager.HRLControllerManager.__init__ | ( | self, | |
whicharm, | |||
tf_listener = None , |
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using_slip_controller = 0 , |
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using_slip_detection = 0 |
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) |
Definition at line 244 of file hrl_controller_manager.py.
def hrl_pr2_lib.hrl_controller_manager.HRLControllerManager.command_interpolated_ik | ( | self, | |
end_pose, | |||
start_pose = None , |
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collision_aware = 1 , |
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step_size = .02 , |
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max_joint_vel = .05 , |
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joints_bias = None , |
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bias_radius = 0.0 |
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) |
Definition at line 407 of file hrl_controller_manager.py.
def hrl_pr2_lib.hrl_controller_manager.HRLControllerManager.move_arm_pose_biased | ( | self, | |
pose_stamped, | |||
joints_bias = [0.]*7 , |
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max_joint_vel = 0.2 , |
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blocking = 1 , |
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init_angs = [0.]*7 |
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) |
Definition at line 479 of file hrl_controller_manager.py.
def hrl_pr2_lib.hrl_controller_manager.HRLControllerManager.move_cartesian_ik | ( | self, | |
goal_pose, | |||
collision_aware = 0 , |
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blocking = 1 , |
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step_size = .005 , |
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pos_thres = .02 , |
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rot_thres = .1 , |
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timeout = rospy.Duration(30.) , |
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settling_time = rospy.Duration(0.25) , |
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vel = .15 , |
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joints_bias = None , |
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bias_radius = 0.0 |
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) |
move in Cartesian space using IK Cartesian interpolation if collision_aware, quits if the path is not collision-free if blocking, waits for completion, otherwise returns after sending the goal step_size is the step size for interpolation pos_thres and rot_thres are thresholds within which the goal is declared reached times out and quits after timeout, and waits settling_time after the controllers declare that they're done
Definition at line 454 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.
Definition at line 244 of file hrl_controller_manager.py.