Class for simple management of the arms and grippers. More...
Public Member Functions | |
| def | __init__ |
| Initializes all of the servers, clients, and variables. | |
| def | close_gripper |
| Close the gripper. | |
| def | get_cep_jtt |
| def | get_ee_jtt |
| def | go_cep_jtt |
| def | l_cart_state_cb |
| def | move_gripper |
| Move the gripper the given amount with given amount of effort. | |
| def | open_gripper |
| Open the gripper. | |
| def | r_cart_state_cb |
| def | set_cep_jtt |
Public Attributes | |
| arm_state_lock | |
| gripper_action_client | |
| l_arm_cart_pub | |
| l_cep_pos | |
| l_cep_rot | |
| off_point | |
| r_arm_cart_pub | |
| r_cep_pos | |
| r_cep_pos_hooktip | |
| r_cep_rot | |
| r_ee_pos | |
| r_ee_rot | |
| send_delay | |
| tf_lstnr | |
Class for simple management of the arms and grippers.
Provides functionality for moving the arms, opening and closing the grippers, performing IK, and other functionality as it is developed.
Definition at line 52 of file pr2_arm_controller2.py.
| def pr2_playpen.pr2_arm_controller2.PR2Arms.__init__ | ( | self, | |
send_delay = 50000000, |
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gripper_point = (0.23,0.0, |
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force_torque = False |
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| ) |
Initializes all of the servers, clients, and variables.
| send_delay | send trajectory points send_delay nanoseconds into the future |
| gripper_point | given the frame of the wrist_roll_link, this point offsets the location used in FK and IK, preferably to the tip of the gripper |
Definition at line 61 of file pr2_arm_controller2.py.
| def pr2_playpen.pr2_arm_controller2.PR2Arms.close_gripper | ( | self, | |
| arm, | |||
effort = 15 |
|||
| ) |
Close the gripper.
| arm | 0 for right, 1 for left |
Definition at line 191 of file pr2_arm_controller2.py.
| def pr2_playpen.pr2_arm_controller2.PR2Arms.get_cep_jtt | ( | self, | |
| arm, | |||
hook_tip = False |
|||
| ) |
Definition at line 116 of file pr2_arm_controller2.py.
| def pr2_playpen.pr2_arm_controller2.PR2Arms.get_ee_jtt | ( | self, | |
| arm | |||
| ) |
Definition at line 110 of file pr2_arm_controller2.py.
| def pr2_playpen.pr2_arm_controller2.PR2Arms.go_cep_jtt | ( | self, | |
| arm, | |||
| p | |||
| ) |
Definition at line 154 of file pr2_arm_controller2.py.
| def pr2_playpen.pr2_arm_controller2.PR2Arms.l_cart_state_cb | ( | self, | |
| msg | |||
| ) |
Definition at line 103 of file pr2_arm_controller2.py.
| def pr2_playpen.pr2_arm_controller2.PR2Arms.move_gripper | ( | self, | |
| arm, | |||
amount = 0.08, |
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effort = 15 |
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| ) |
Move the gripper the given amount with given amount of effort.
| arm | 0 for right, 1 for left |
| amount | the amount the gripper should be opened |
| effort | - supposed to be in Newtons. (-ve number => max effort) |
Definition at line 177 of file pr2_arm_controller2.py.
| def pr2_playpen.pr2_arm_controller2.PR2Arms.open_gripper | ( | self, | |
| arm | |||
| ) |
Open the gripper.
| arm | 0 for right, 1 for left |
Definition at line 184 of file pr2_arm_controller2.py.
| def pr2_playpen.pr2_arm_controller2.PR2Arms.r_cart_state_cb | ( | self, | |
| msg | |||
| ) |
Definition at line 85 of file pr2_arm_controller2.py.
| def pr2_playpen.pr2_arm_controller2.PR2Arms.set_cep_jtt | ( | self, | |
| arm, | |||
| p, | |||
rot = None |
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| ) |
Definition at line 126 of file pr2_arm_controller2.py.
Definition at line 61 of file pr2_arm_controller2.py.
Definition at line 61 of file pr2_arm_controller2.py.
Definition at line 61 of file pr2_arm_controller2.py.
Definition at line 103 of file pr2_arm_controller2.py.
Definition at line 103 of file pr2_arm_controller2.py.
Definition at line 61 of file pr2_arm_controller2.py.
Definition at line 61 of file pr2_arm_controller2.py.
Definition at line 85 of file pr2_arm_controller2.py.
Definition at line 85 of file pr2_arm_controller2.py.
Definition at line 85 of file pr2_arm_controller2.py.
Definition at line 85 of file pr2_arm_controller2.py.
Definition at line 85 of file pr2_arm_controller2.py.
Definition at line 61 of file pr2_arm_controller2.py.
Definition at line 61 of file pr2_arm_controller2.py.