reaching Namespace Reference

Classes
class	TrajectoryFilter
Variables
string	arm = 'l'
tuple	center
	home = True;
	home_joint_positions = joint_positions
tuple	home_pose
int	i = 0
tuple	ik_service = rospy.ServiceProxy( ik_service_name, GetPositionIK )
string	ik_service_name = 'pr2_left_arm_kinematics/get_ik'
tuple	joint_names = dynutils.get_joint_names( 'l_arm_controller' )
list	joint_positions = []
tuple	l_arm_client = dynutils.init_jt_client( arm )
int	n_points = 50
list	neutral
string	node_name = "reaching_node"
tuple	pose
tuple	req = GetPositionIKRequest()
tuple	res = ik_service( req )
tuple	traj_filter = TrajectoryFilter( 'trajectory_filter/filter_trajectory_with_constraints' )
tuple	x = center.position.x+abs(np.random.rand() / 5)
tuple	y = center.position.y+np.random.rand()
tuple	z = center.position.z+np.random.rand()

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Variable Documentation

string reaching::arm = 'l'

Definition at line 109 of file reaching.py.

tuple reaching::center

Initial value:

Pose( position = Point( 0.4, 0.2, 0.0 ), 
                   orientation = Quaternion( 0.0, 0.0, 0.0, 1.0 ) )

Definition at line 89 of file reaching.py.

reaching::home = True;

Definition at line 114 of file reaching.py.

reaching::home_joint_positions = joint_positions

Definition at line 107 of file reaching.py.

tuple reaching::home_pose

Initial value:

Pose( position = Point( 0.25, 0.55, 0.0 ), 
                   orientation = Quaternion( 0.0, 0.0, 0.0, 1.0 ) )

Definition at line 92 of file reaching.py.

int reaching::i = 0

Definition at line 113 of file reaching.py.

tuple reaching::ik_service = rospy.ServiceProxy( ik_service_name, GetPositionIK )

Definition at line 65 of file reaching.py.

string reaching::ik_service_name = 'pr2_left_arm_kinematics/get_ik'

Definition at line 62 of file reaching.py.

tuple reaching::joint_names = dynutils.get_joint_names( 'l_arm_controller' )

Definition at line 61 of file reaching.py.

tuple reaching::joint_positions = []

Definition at line 87 of file reaching.py.

tuple reaching::l_arm_client = dynutils.init_jt_client( arm )

Definition at line 110 of file reaching.py.

int reaching::n_points = 50

Definition at line 112 of file reaching.py.

list reaching::neutral

Initial value:

[ np.pi / 3, 
                 np.pi / 3, 
                 0,
                 -3 * np.pi/4,
                 0, 
                 0, 
                 0]

Definition at line 70 of file reaching.py.

string reaching::node_name = "reaching_node"

Definition at line 56 of file reaching.py.

tuple reaching::pose

Initial value:

Pose( position = Point( x, y, z ),
                         orientation = Quaternion( 0.0, 0.0, 0.0, 1.0 ) )

Definition at line 124 of file reaching.py.

tuple reaching::req = GetPositionIKRequest()

Definition at line 80 of file reaching.py.

tuple reaching::res = ik_service( req )

Definition at line 98 of file reaching.py.

tuple reaching::traj_filter = TrajectoryFilter( 'trajectory_filter/filter_trajectory_with_constraints' )

Definition at line 68 of file reaching.py.

tuple reaching::x = center.position.x+abs(np.random.rand() / 5)

Definition at line 120 of file reaching.py.

tuple reaching::y = center.position.y+np.random.rand()

Definition at line 121 of file reaching.py.

tuple reaching::z = center.position.z+np.random.rand()

Definition at line 122 of file reaching.py.