Monitors perception channels on the robot arms. More...

Classes
class	DataThread
Public Member Functions
def	__init__
	Initializes internal variables.
def	activate_sensing
	Initializes the listeners on the sensor topics.
def	begin_collision_detection
	Begin monitoring peception data to make sure it doesn't deviate from the model provided.
def	clear_vars
	Initialize variables.
def	end_collision_detection
	Stop capturing perception data.
def	load_parameters
def	process_signals
	do processing of signals in current coord group sigs_proc contains a list of three signal sets each corresponds to a list of convolutions of the signals with a degree derivative of a gaussian with various scales
def	start_data_capture
	Begin capturing peception data for all of the listeners.
def	stop_data_capture
	Stop capturing perception data.
Public Attributes
	armc
	beg_time
	callback
	coll_iter
	coll_type_classifier
	collision_coord
	collision_detected
	collision_finished
	collision_type
	cur_inds
	cur_iter
	data_thread_spawner
	data_thread_spawner_lock1
	data_thread_spawner_lock2
	datasets
	debug
	end_monitor_lock
	fos
	i_data_buffers
	I_DEGREE_DICT
	I_FILTER_BEG_DELAY
	I_FILTER_CEN_DELAY
	i_instance_len
	I_MAX_SIGMA
	I_MIN_SIGMA
	I_NUM_SIGMA
	I_RTREE_CLASSIFIER
	i_sigma_list
	impact_classifier
	Classifiers #################.
	impact_fgc
	is_dynamic
	is_right_arm
	logger
	models
	normal_dict_counts
	percept_mon_list
	perception_lengths
	perception_names
	PERCEPTION_ORDER
	perception_started
	perceptions
	SAMPLING_RATE
	STATIC_DERIV_THRESH
	static_dict
	STATIC_SIGMA_INDEX
	t_data_buffers
	T_DEGREE_DICT
	T_FILTER_BEG_DELAY
	T_FILTER_CEN_DELAY
	t_instance_len
	T_MAX_SIGMA
	T_MIN_SIGMA
	t_num
	T_NUM_SIGMA
	T_RTREE_CLASSIFIER
	t_sigma_list
	temp_dict
	tf_listener
	type_fgc
Private Member Functions
def	_data_spawn_thread
def	_dynamic_collision_classifying
def	_dynamic_collision_detection
def	_finish_collision
def	_gather_perception
def	_monitor_data_collector
def	_setup_collision_type
def	_static_collision_detection
def	_trigger_collision

Detailed Description

Monitors perception channels on the robot arms.

Important: rate must be the same for both data_capture and monitoring. Values are gathered timestep by timestep.

Usecase: apm = ArmPerceptionMonitor(0) for trajectory in trajectories: apm.start_data_capture() trajectory.run() trajectory.wait_for_completion() apm.stop_data_capture() mean_function, variance_function = apm.generate_model(...)

Definition at line 186 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

Constructor & Destructor Documentation

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor.__init__	(	self,
		arm
	)

Initializes internal variables.

Parameters:

arm	0 if right, 1 if left
percept_mon_list	list of perceptions to monitor; if None, do all

Definition at line 193 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

Member Function Documentation

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor._data_spawn_thread ( self ) [private]

Definition at line 569 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor._dynamic_collision_classifying ( self ) [private]

Definition at line 654 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor._dynamic_collision_detection ( self ) [private]

Definition at line 628 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor._finish_collision	(	self,
		type = `"Unlabled"`,
		coord = `0`
	)	`[private]`

Definition at line 716 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor._gather_perception ( self ) [private]

Definition at line 412 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor._monitor_data_collector ( self ) [private]

Definition at line 589 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor._setup_collision_type	(	self,
		static_collision_type
	)	`[private]`

Definition at line 544 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor._static_collision_detection ( self ) [private]

Definition at line 685 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor._trigger_collision ( self ) [private]

Definition at line 710 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor.activate_sensing	(	self,
		tf_listener = `None`
	)

Initializes the listeners on the sensor topics.

This must be started before any data can be collected from the arms.

Definition at line 287 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor.begin_collision_detection	(	self,
		dynamic_detection = `False`,
		callback = `None`,
		static_collision_type = `None`,
		debug = `False`
	)

Begin monitoring peception data to make sure it doesn't deviate from the model provided.

TODO DOCS

Parameters:

duration If None, continue capturing until stop is called. Else, stop capturing after duration seconds have passed.

Definition at line 497 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor.clear_vars ( self )

Initialize variables.

Definition at line 384 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor.end_collision_detection ( self )

Stop capturing perception data.

Store output data in datasets list for later statistics.

Definition at line 734 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor.load_parameters ( self )

Definition at line 243 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.

def pr2_overhead_grasping.perception_monitor.ArmPerceptionMonitor.process_signals	(	self,
		datasets
	)

do processing of signals in current coord group sigs_proc contains a list of three signal sets each corresponds to a list of convolutions of the signals with a degree derivative of a gaussian with various scales

Definition at line 432 of file pr2_overhead_grasping/src/pr2_overhead_grasping/perception_monitor.py.