Functions
def	get_virtual_gloves
def	get_virtual_table
	Sets up a virtual table in front of the robot.
Variables
tuple	client
tuple	cmder = ArmCmder(client, ranges, recovery_client, recovery_positions)
string	COLLISION_TOPIC = "collision_object"
string	PKG = 'life_test'
	Sends goals to arm to move it in collision free way.
tuple	planning_scene_diff_request = SetPlanningSceneDiffRequest()
dictionary	ranges
tuple	recovery_client
dictionary	recovery_positions
tuple	set_planning_scene_diff_client

Function Documentation

def both_arm_cmder.get_virtual_gloves ( )

Definition at line 88 of file both_arm_cmder.py.

def both_arm_cmder.get_virtual_table ( height = 0.42 )

Sets up a virtual table in front of the robot.

Definition at line 127 of file both_arm_cmder.py.

Variable Documentation

tuple both_arm_cmder::client

Initial value:

00001 actionlib.SimpleActionClient('collision_free_arm_trajectory_action_arms', 
00002                                           JointTrajectoryAction)

Definition at line 169 of file both_arm_cmder.py.

tuple both_arm_cmder::cmder = ArmCmder(client, ranges, recovery_client, recovery_positions)

Definition at line 195 of file both_arm_cmder.py.

string both_arm_cmder::COLLISION_TOPIC = "collision_object"

Definition at line 51 of file both_arm_cmder.py.

string both_arm_cmder::PKG = 'life_test'

Sends goals to arm to move it in collision free way.

Author:: Kevin Watts

Definition at line 33 of file both_arm_cmder.py.

tuple both_arm_cmder::planning_scene_diff_request = SetPlanningSceneDiffRequest()

Definition at line 183 of file both_arm_cmder.py.

dictionary both_arm_cmder::ranges

Initial value:

00001 {
00002     'r_shoulder_pan_joint': (-2.0, -0.4),
00003     'r_shoulder_lift_joint': (-0.3, 1.25),
00004     'r_upper_arm_roll_joint': (-3.1, 0),
00005     'r_elbow_flex_joint': (-2.0, -0.2),
00006     'r_forearm_roll_joint': (-3.14, 3.14),
00007     'r_wrist_flex_joint': (-1.8, -0.2),
00008     'r_wrist_roll_joint': (-3.14, 3.14),
00009     'l_shoulder_pan_joint': (0.4, 2.0),
00010     'l_shoulder_lift_joint': (-0.3, 1.25),
00011     'l_upper_arm_roll_joint': (0, 3.1),
00012     'l_elbow_flex_joint': (-2.0, -0.2),
00013     'l_forearm_roll_joint': (-3.14, 3.14),
00014     'l_wrist_flex_joint': (-1.8, -0.2),
00015     'l_wrist_roll_joint': (-3.14, 3.14)
00016 }

Definition at line 54 of file both_arm_cmder.py.

tuple both_arm_cmder::recovery_client

Initial value:

00001 actionlib.SimpleActionClient('both_arms_controller/joint_trajectory_action',
00002                                                 JointTrajectoryAction)

Definition at line 192 of file both_arm_cmder.py.

dictionary both_arm_cmder::recovery_positions

Initial value:

00001 {
00002     'r_shoulder_pan_joint': - math.pi / 4,
00003     'r_shoulder_lift_joint': 0.0,
00004     'r_upper_arm_roll_joint': 0.0,
00005     'r_elbow_flex_joint': -.25,
00006     'r_forearm_roll_joint': 0.0,
00007     'r_wrist_flex_joint': -.25,
00008     'r_wrist_roll_joint': 0.0,
00009     'l_shoulder_pan_joint': math.pi / 4,
00010     'l_shoulder_lift_joint': 0.0,
00011     'l_upper_arm_roll_joint': 0.0,
00012     'l_elbow_flex_joint': -.25,
00013     'l_forearm_roll_joint': 0.0,
00014     'l_wrist_flex_joint': -.25,
00015     'l_wrist_roll_joint': 0.0
00016 }

Definition at line 71 of file both_arm_cmder.py.

tuple both_arm_cmder::set_planning_scene_diff_client

Initial value:

00001 rospy.ServiceProxy('environment_server/set_planning_scene_diff',
00002                                                         SetPlanningSceneDiff)

Definition at line 180 of file both_arm_cmder.py.

Functions

Variables

Function Documentation

Variable Documentation