position_feedback_push_node.PositionFeedbackPushNode Class Reference

List of all members.

Public Member Functions
def	__init__
def	arm_moving_cart
def	get_arm_joint_pose
def	get_desired_posture
def	gripper_feedback_push
def	gripper_open
def	gripper_pose
def	gripper_post_push
def	gripper_post_sweep
def	gripper_pre_push
def	gripper_pre_sweep
def	gripper_push
def	gripper_sweep
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	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_until_contact
def	overhead_post_push
def	overhead_pre_push
def	overhead_push
def	r_arm_cart_state_callback
def	raise_and_look
def	reset_arm_pose
def	run
def	set_arm_joint_pose
def	stop_moving_cart
def	stop_moving_vel
def	switch_to_cart_controllers
def	switch_to_joint_controllers
def	switch_to_vel_controllers
def	tracker_feedback_gripper_push
def	update_vel
def	vel_push_forward
Public Attributes
	active_arm
	arm_done_moving_count_thresh
	arm_done_moving_epc_count_thresh
	arm_mode
	base_cart_controller_name
	base_vel_controller_name
	controller_state_msg
	cs
	default_torso_height
	desired_pose
	feedback_count
	gripper_feedback_push_srv
	gripper_post_push_srv
	gripper_post_sweep_srv
	gripper_pre_push_srv
	gripper_pre_sweep_srv
	gripper_push_srv
	gripper_raise_dist
	gripper_sweep_srv
	head_pose_cam_frame
	high_arm_init_z
	l_arm_cart_posture_pub
	l_arm_cart_pub
	l_arm_cart_vel_pub
	l_arm_F
	l_arm_pose
	l_arm_vel_posture_pub
	l_arm_x_d
	l_arm_x_err
	l_pressure_listener
	look_pt_x
	move_cart_check_hz
	overhead_post_push_srv
	overhead_pre_push_srv
	overhead_push_srv
	post_controller_switch_sleep
	post_move_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_pose
	r_arm_vel_posture_pub
	r_arm_x_d
	r_arm_x_err
	r_pressure_listener
	raise_and_look_serice
	robot
	still_moving_angular_velocity
	still_moving_velocity
	tf_listener
	torso_z_offset
	use_cur_joint_posture
	use_jinv
	vel_controller_state_msg

---

Detailed Description

Definition at line 117 of file position_feedback_push_node.py.

---

Constructor & Destructor Documentation

def position_feedback_push_node.PositionFeedbackPushNode.__init__

(

self

)

Definition at line 119 of file position_feedback_push_node.py.

---

Member Function Documentation

def position_feedback_push_node.PositionFeedbackPushNode.arm_moving_cart	(		self,
			which_arm
	)

Definition at line 977 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.get_arm_joint_pose	(		self,
			which_arm
	)

Definition at line 918 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.get_desired_posture	(		self,
			which_arm
	)

Definition at line 1272 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.gripper_feedback_push	(		self,
			request
	)

Definition at line 353 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.gripper_open	(		self,
			which_arm = 'l'
	)

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

Definition at line 1313 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.gripper_pose	(		self,
			which_arm = "l"
	)

Definition at line 1303 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.gripper_post_push	(		self,
			request
	)

Definition at line 510 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.gripper_post_sweep	(		self,
			request
	)

Definition at line 650 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.gripper_pre_push	(		self,
			request
	)

Definition at line 459 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.gripper_pre_sweep	(		self,
			request
	)

Definition at line 597 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.gripper_push	(		self,
			request
	)

Definition at line 433 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.gripper_sweep	(		self,
			request
	)

Definition at line 561 of file position_feedback_push_node.py.

def 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 268 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.init_arms

(

self

)

Definition at line 345 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.init_cart_controllers

(

self

)

Definition at line 1341 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.init_head_pose	(		self,
			camera_frame
	)

Definition at line 326 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.init_joint_controllers

(

self

)

Definition at line 1330 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.init_spine_pose

(

self

)

Definition at line 339 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.init_vel_controllers

(

self

)

Definition at line 1356 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.l_arm_cart_state_callback	(		self,
			state_msg
	)

Definition at line 1287 of file position_feedback_push_node.py.

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

Definition at line 1158 of file position_feedback_push_node.py.

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

Definition at line 994 of file position_feedback_push_node.py.

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

Definition at line 1009 of file position_feedback_push_node.py.

def 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 1028 of file position_feedback_push_node.py.

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

Definition at line 931 of file position_feedback_push_node.py.

def 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 1084 of file position_feedback_push_node.py.

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

Definition at line 1172 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.overhead_post_push	(		self,
			request
	)

Definition at line 780 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.overhead_pre_push	(		self,
			request
	)

Definition at line 722 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.overhead_push	(		self,
			request
	)

Definition at line 694 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.r_arm_cart_state_callback	(		self,
			state_msg
	)

Definition at line 1295 of file position_feedback_push_node.py.

def 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 831 of file position_feedback_push_node.py.

def 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 291 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.run

(

self

)

Main control loop for the node

Definition at line 1387 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.set_arm_joint_pose	(		self,
			joint_pose,
			which_arm,
			nsecs = 2.0
	)

Definition at line 924 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.stop_moving_cart	(		self,
			which_arm
	)

Definition at line 1152 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.stop_moving_vel	(		self,
			which_arm
	)

Definition at line 1252 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.switch_to_cart_controllers

(

self

)

Definition at line 1363 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.switch_to_joint_controllers

(

self

)

Definition at line 1370 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.switch_to_vel_controllers

(

self

)

Definition at line 1377 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.tracker_feedback_gripper_push	(		self,
			feedback
	)

Definition at line 398 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.update_vel	(		self,
			update_twist,
			which_arm
	)

Definition at line 1239 of file position_feedback_push_node.py.

def position_feedback_push_node.PositionFeedbackPushNode.vel_push_forward	(		self,
			which_arm,
			speed = 0.3
	)

Definition at line 1216 of file position_feedback_push_node.py.

---

Member Data Documentation

position_feedback_push_node.PositionFeedbackPushNode::active_arm

Definition at line 353 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::arm_done_moving_count_thresh

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::arm_done_moving_epc_count_thresh

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::arm_mode

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::base_cart_controller_name

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::base_vel_controller_name

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::controller_state_msg

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::cs

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::default_torso_height

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::desired_pose

Definition at line 353 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::feedback_count

Definition at line 353 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::gripper_feedback_push_srv

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::gripper_post_push_srv

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::gripper_post_sweep_srv

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::gripper_pre_push_srv

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::gripper_pre_sweep_srv

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::gripper_push_srv

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::gripper_raise_dist

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::gripper_sweep_srv

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::head_pose_cam_frame

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::high_arm_init_z

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::l_arm_cart_posture_pub

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::l_arm_cart_pub

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::l_arm_cart_vel_pub

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::l_arm_F

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::l_arm_pose

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::l_arm_vel_posture_pub

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::l_arm_x_d

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::l_arm_x_err

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::l_pressure_listener

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::look_pt_x

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::move_cart_check_hz

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::overhead_post_push_srv

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::overhead_pre_push_srv

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::overhead_push_srv

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::post_controller_switch_sleep

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::post_move_count_thresh

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::pre_push_count_thresh

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::pressure_safety_limit

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::r_arm_cart_posture_pub

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::r_arm_cart_pub

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::r_arm_cart_vel_pub

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::r_arm_F

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::r_arm_pose

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::r_arm_vel_posture_pub

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::r_arm_x_d

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::r_arm_x_err

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::r_pressure_listener

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::raise_and_look_serice

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::robot

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::still_moving_angular_velocity

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::still_moving_velocity

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::tf_listener

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::torso_z_offset

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::use_cur_joint_posture

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::use_jinv

Definition at line 119 of file position_feedback_push_node.py.

position_feedback_push_node.PositionFeedbackPushNode::vel_controller_state_msg

Definition at line 119 of file position_feedback_push_node.py.

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The documentation for this class was generated from the following file:

• position_feedback_push_node.py