Public Member Functions
def	__init__
def	gripper_close
	Close gripper.
def	gripper_open
	Open gripper.
def	move_absolute
def	move_absolute_old
	TODO is this redundant?
def	move_relative
	Moves relative to an arbitrary frame.
def	move_relative_base
	Moves relative to base frame.
def	move_relative_gripper
	Moves relative to tool frame.
def	set_movement_mode_cart
	Change which set of controllers are being used for move_* commands.
def	set_movement_mode_ik
	Change which set of controllers are being used for move_* commands.
def	set_pressure_threshold
Public Attributes
	arm_obj
	cman
	ik_frame
	movement_mode
	pr2
	pressure_listener
	reactive_gr
	tf_listener
	timeout
	tool_frame
Private Member Functions
def	_check_gripper_event
def	_move_cartesian
def	_move_cartesian_cart
	move the wrist to a desired Cartesian pose while watching the fingertip sensors settling_time is how long to wait after the controllers think we're there
def	_move_cartesian_ik
def	_process_stop_option
def	_start_gripper_event_detector
	start up gripper event detector to detect when an object hits the table or when someone is trying to take an object from the robot

Detailed Description

Definition at line 97 of file linear_move.py.

Constructor & Destructor Documentation

def hrl_pr2_lib.linear_move.LinearReactiveMovement.__init__	(	self,
		arm,
		pr2,
		tf_listener,
		using_slip_controller = `1`,
		using_slip_detection = `1`
	)

Parameters:

arm	'l' or 'r'
pr2	Pr2 object (pr2.py)
tf_listener	a tf.TransformListener()

Definition at line 103 of file linear_move.py.

Member Function Documentation

def hrl_pr2_lib.linear_move.LinearReactiveMovement._check_gripper_event ( self ) [private]

Definition at line 411 of file linear_move.py.

def hrl_pr2_lib.linear_move.LinearReactiveMovement._move_cartesian	(	self,
		position,
		orientation,
		stop_funcs = `[]`,
		timeout = `3.0`,
		settling_time = `0.5`,
		frame = `'base_link'`,
		vel = `.15`
	)	`[private]`

Definition at line 247 of file linear_move.py.

def hrl_pr2_lib.linear_move.LinearReactiveMovement._move_cartesian_cart	(	self,
		position,
		orientation,
		stop_funcs = `[]`,
		timeout = `3.0`,
		settling_time = `0.5`,
		frame = `'base_link'`
	)	`[private]`

move the wrist to a desired Cartesian pose while watching the fingertip sensors settling_time is how long to wait after the controllers think we're there

Definition at line 261 of file linear_move.py.

def hrl_pr2_lib.linear_move.LinearReactiveMovement._move_cartesian_ik	(	self,
		position,
		orientation,
		stop_funcs = `[]`,
		timeout = `30.`,
		settling_time = `0.25`,
		frame = `'base_link'`,
		vel = `.15`
	)	`[private]`

Definition at line 357 of file linear_move.py.

def hrl_pr2_lib.linear_move.LinearReactiveMovement._process_stop_option	(	self,
		stop
	)	`[private]`

Definition at line 457 of file linear_move.py.

def hrl_pr2_lib.linear_move.LinearReactiveMovement._start_gripper_event_detector	(	self,
		event_type = `'all'`,
		accel = `8.25`,
		slip = `.008`,
		blocking = `0`,
		timeout = `15.`
	)	`[private]`

start up gripper event detector to detect when an object hits the table or when someone is trying to take an object from the robot

Definition at line 423 of file linear_move.py.

def hrl_pr2_lib.linear_move.LinearReactiveMovement.gripper_close ( self )

Close gripper.

Definition at line 224 of file linear_move.py.

def hrl_pr2_lib.linear_move.LinearReactiveMovement.gripper_open ( self )

Open gripper.

Definition at line 229 of file linear_move.py.

def hrl_pr2_lib.linear_move.LinearReactiveMovement.move_absolute	(	self,
		loc,
		stop = `'pressure_accel'`,
		pressure = `300`,
		frame = `'base_link'`
	)

Definition at line 169 of file linear_move.py.

def hrl_pr2_lib.linear_move.LinearReactiveMovement.move_absolute_old	(	self,
		loc,
		stop = `'pressure_accel'`,
		pressure = `300`
	)

TODO is this redundant?

Returns:: 3x1 pos matrix, and 4x1 orientation matrix both in base_link def current_location(self): pos, rot = tfu.matrix_as_tf(self.arm_obj.pose_cartesian()) return np.matrix(pos).T, np.matrix(rot).T Moves to a given position, orientation

Parameters:

loc	(3x1 position matrix, 4x1 orientation matrix) in base_link
stop	'pressure_accel', 'pressure'
pressure	pressure to use

Definition at line 153 of file linear_move.py.

def hrl_pr2_lib.linear_move.LinearReactiveMovement.move_relative	(	self,
		movement_target,
		target_frame,
		stop = `'pressure_accel'`,
		pressure = `150`
	)

Moves relative to an arbitrary frame.

Parameters:

movement_target	3x1 matrix a displacement in the target frame
target_frame	string id of the frame in which the movement is defined
stop	'pressure_accel', 'pressure'
pressure	pressure to use

Definition at line 186 of file linear_move.py.