Public Member Functions
def	__init__
def	affineFeedbackController
def	arm_moving_cart
def	centroidAlignmentController
def	directGoalController
def	directGoalGripperController
def	feedback_push_behavior
def	get_arm_joint_pose
def	get_desired_posture
def	gripper_feedback_post_push
def	gripper_feedback_post_sweep
def	gripper_feedback_push
def	gripper_feedback_sweep
def	gripper_post_push
def	gripper_post_sweep
def	gripper_pre_push
def	gripper_pre_sweep
def	gripper_push
def	gripper_sweep
def	ik_robot_state_to_arm_pose
def	init_arm_pose
def	init_arms
def	init_cart_controllers
def	init_head_pose
def	init_joint_controllers
def	init_spine_pose
def	init_vel_controllers
def	l_arm_cart_state_callback
def	l_arm_vel_state_callback
def	loadAffineController
def	move_down_until_contact
def	move_relative_gripper
def	move_relative_torso
def	move_relative_torso_epc
def	move_to_cart_pose
def	move_to_cart_pose_epc
def	move_to_cart_pose_ik
def	move_until_contact
def	overhead_feedback_post_push
def	overhead_feedback_push
def	overhead_post_push
def	overhead_pre_push
def	overhead_push
def	r_arm_cart_state_callback
def	r_arm_vel_state_callback
def	raise_and_look
def	RBFFeedbackController
def	reset_arm_pose
def	rotateHeadingController
def	rotateHeadingControllerPalm
def	run
def	set_arm_joint_pose
def	setupRBFController
def	shutdown_hook
def	spinCircleStuff
def	spinCompensationController
def	stop_moving_cart
def	stop_moving_vel
def	straightLineController
def	switch_to_cart_controllers
def	switch_to_joint_controllers
def	switch_to_vel_controllers
def	tracker_feedback_push
def	update_vel
def	vel_push_forward
Public Attributes
	active_arm
	AFFINE_B
	arm_done_moving_count_thresh
	arm_done_moving_epc_count_thresh
	arm_mode
	base_cart_controller_name
	base_vel_controller_name
	controller_io
	controller_state_msg
	cs
	default_torso_height
	desired_pose
	feedback_count
	gripper_feedback_post_push_srv
	gripper_feedback_post_sweep_srv
	gripper_feedback_push_srv
	gripper_feedback_sweep_srv
	gripper_pre_push_srv
	gripper_pre_sweep_srv
	gripper_pull_forward_dist
	gripper_pull_reverse_dist
	gripper_push_reverse_dist
	gripper_raise_dist
	head_pose_cam_frame
	high_arm_init_z
	k_contact_d
	k_contact_g
	k_g
	k_g_direct
	k_h_f
	k_rotate_spin_x
	k_s_d
	k_s_p
	l_arm_cart_posture_pub
	l_arm_cart_pub
	l_arm_cart_vel_pub
	l_arm_F
	l_arm_ik_proxy
	l_arm_ik_solver_proxy
	l_arm_pose
	l_arm_vel_posture_pub
	l_arm_x_d
	l_arm_x_err
	l_pressure_listener
	learn_io
	learned_controller_base_path
	look_pt_x
	lower_arm_init_z
	max_close_effort
	max_goal_vel
	max_heading_u_x
	max_heading_u_y
	move_cart_check_hz
	overhead_feedback_post_push_srv
	overhead_feedback_push_srv
	overhead_pre_push_srv
	post_controller_switch_sleep
	post_move_count_thresh
	post_pull_count_thresh
	pre_push_count_thresh
	pressure_safety_limit
	r_arm_cart_posture_pub
	r_arm_cart_pub
	r_arm_cart_vel_pub
	r_arm_F
	r_arm_ik_proxy
	r_arm_ik_solver_proxy
	r_arm_pose
	r_arm_vel_posture_pub
	r_arm_x_d
	r_arm_x_err
	r_pressure_listener
	raise_and_look_serice
	RBF
	robot
	servo_head_during_pushing
	still_moving_angular_velocity
	still_moving_velocity
	straight_v
	tf_listener
	theta0
	torso_z_offset
	use_cur_joint_posture
	use_gripper_place_joint_posture
	use_jinv
	use_learn_io
	vel_controller_state_msg
	x0
	y0

Detailed Description

Definition at line 193 of file position_feedback_push_node.py.

Constructor & Destructor Documentation

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.__init__ ( self )

Definition at line 195 of file position_feedback_push_node.py.

Member Function Documentation

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.affineFeedbackController	(	self,
		cur_state,
		A,
		b
	)

Definition at line 824 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.arm_moving_cart	(	self,
		which_arm
	)

Definition at line 1710 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.centroidAlignmentController	(	self,
		cur_state,
		desired_state,
		ee_pose
	)

Definition at line 715 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.directGoalController	(	self,
		cur_state,
		desired_state
	)

Definition at line 753 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.directGoalGripperController	(	self,
		cur_state,
		desired_state,
		ee_pose
	)

Definition at line 799 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.feedback_push_behavior	(	self,
		request,
		feedback_cb
	)

Definition at line 467 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.get_arm_joint_pose	(	self,
		which_arm
	)

Definition at line 1591 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.get_desired_posture	(	self,
		which_arm
	)

Definition at line 2006 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.gripper_feedback_post_push	(	self,
		request
	)

Definition at line 924 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.gripper_feedback_post_sweep	(	self,
		request
	)

Definition at line 996 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.gripper_feedback_push	(	self,
		request
	)

Definition at line 455 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.gripper_feedback_sweep	(	self,
		request
	)

Definition at line 459 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.gripper_post_push	(	self,
		request
	)

Definition at line 1298 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.gripper_post_sweep	(	self,
		request
	)

Definition at line 1383 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.gripper_pre_push	(	self,
		request
	)

Definition at line 1060 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.gripper_pre_sweep	(	self,
		request
	)

Definition at line 1136 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.gripper_push	(	self,
		request
	)

Definition at line 1272 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.gripper_sweep	(	self,
		request
	)

Definition at line 1347 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.ik_robot_state_to_arm_pose	(	self,
		robot_state
	)

Definition at line 2057 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.init_arm_pose	(	self,
		force_ready = `False`,
		which_arm = `'l'`
	)

Move the arm to the initial pose to be out of the way for viewing the
tabletop

Definition at line 369 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.init_arms ( self )

Definition at line 447 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.init_cart_controllers ( self )

Definition at line 2078 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.init_head_pose	(	self,
		camera_frame
	)

Definition at line 427 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.init_joint_controllers ( self )

Definition at line 2067 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.init_spine_pose ( self )

Definition at line 441 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.init_vel_controllers ( self )

Definition at line 2093 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.l_arm_cart_state_callback	(	self,
		state_msg
	)

Definition at line 2025 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.l_arm_vel_state_callback	(	self,
		state_msg
	)

Definition at line 2041 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.loadAffineController	(	self,
		controller_name
	)

Definition at line 2126 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.move_down_until_contact	(	self,
		which_arm,
		pressure = `1000`
	)

Definition at line 1891 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.move_relative_gripper	(	self,
		rel_push_vector,
		which_arm,
		move_cart_count_thresh = `None`,
		pressure = `1000`
	)

Definition at line 1727 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.move_relative_torso	(	self,
		rel_push_vector,
		which_arm,
		move_cart_count_thresh = `None`,
		pressure = `1000`
	)

Definition at line 1742 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.move_relative_torso_epc	(	self,
		push_angle,
		push_dist,
		which_arm,
		move_cart_count_thresh = `None`,
		pressure = `1000`
	)

Definition at line 1761 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.move_to_cart_pose	(	self,
		pose,
		which_arm,
		done_moving_count_thresh = `None`,
		pressure = `1000`
	)

Definition at line 1604 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.move_to_cart_pose_epc	(	self,
		desired_pose,
		which_arm,
		ep_gen,
		done_moving_count_thresh = `None`,
		pressure = `1000`,
		exit_on_contact = `False`
	)

Definition at line 1817 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.move_to_cart_pose_ik	(	self,
		pose,
		which_arm,
		pressure = `1000`,
		nsecs = `2.0`
	)

Definition at line 1650 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.move_until_contact	(	self,
		twist,
		which_arm,
		done_moving_count_thresh = `None`,
		pressure = `1000`
	)

Definition at line 1905 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.overhead_feedback_post_push	(	self,
		request
	)

Definition at line 864 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.overhead_feedback_push	(	self,
		request
	)

Definition at line 463 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.overhead_post_push	(	self,
		request
	)

Definition at line 1454 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.overhead_pre_push	(	self,
		request
	)

Definition at line 1200 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.overhead_push	(	self,
		request
	)

Definition at line 1426 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.r_arm_cart_state_callback	(	self,
		state_msg
	)

Definition at line 2033 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.r_arm_vel_state_callback	(	self,
		state_msg
	)

Definition at line 2049 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.raise_and_look	(	self,
		request
	)

Service callback to raise the spine to a specific height relative to the
table height and tilt the head so that the Kinect views the table

Definition at line 1507 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.RBFFeedbackController	(	self,
		cur_state
	)

Definition at line 841 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.reset_arm_pose	(	self,
		force_ready = `False`,
		which_arm = `'l'`,
		high_arm_joints = `False`
	)

Move the arm to the initial pose to be out of the way for viewing the
tabletop

Definition at line 392 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.rotateHeadingController	(	self,
		cur_state,
		desired_state,
		which_arm,
		ee_pose
	)

TODO: Change to align to a given point in object frame while pushing in direction perpendicular
to the original orientation...?

Definition at line 636 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.PositionFeedbackPushNode.rotateHeadingControllerPalm	(	self,
		cur_state,
		desired_state,
		which_arm,
		ee_pose
	)