Public Member Functions
def	__init__
def	can_reach
def	get_arm_state
def	get_gripper_state
def	is_arm_moving
def	look_at_ee
def	look_at_point
def	look_down
def	look_forward
def	move_arm_to_joints
def	move_arm_to_joints_plan
def	move_arm_to_pose
def	nod_head
def	play_sound
def	relax_arm
def	reset_arm_movement_history
def	set_gripper_state
def	shake_head
def	start_move_arm_to_pose
Public Attributes
	current_gaze_goal_srv
	gaze_client
	get_ee_pose_srv
	get_gripper_state_srv
	get_joint_states_srv
	is_arm_moving_srv
	is_reachable_srv
	move_arm_to_joints_plan_srv
	move_arm_to_joints_srv
	move_arm_to_pose_srv
	relax_arm_srv
	reset_arm_movement_history_srv
	set_gripper_state_srv
	start_move_arm_to_pose_srv
Private Attributes
	_get_nearest_object_srv
	_play_sound
	_social_gaze
	_sound_client
	_tf_listener

Detailed Description

Robot class that provides an interface to arm
and head (maybe base later)

Definition at line 48 of file robot.py.

Constructor & Destructor Documentation

def fetch_pbd_interaction.robot.Robot.__init__	(	self,
		tf_listener,
		play_sound = `True`,
		social_gaze = `True`
	)

Args:
    tf_listener (TransformListener)

Definition at line 52 of file robot.py.

Member Function Documentation

def fetch_pbd_interaction.robot.Robot.can_reach	(	self,
		arm_state
	)

Returns whether arm can reach pose

Args:
    arm_state (ArmState) : contains pose info
Return:
    bool : success

Definition at line 205 of file robot.py.

def fetch_pbd_interaction.robot.Robot.get_arm_state ( self )

Returns current state of arm

Returns:
    ArmState

Definition at line 252 of file robot.py.

def fetch_pbd_interaction.robot.Robot.get_gripper_state ( self )

Returns state of gripper

Returns:
    GripperState.OPEN|GripperState.CLOSED

Definition at line 227 of file robot.py.

def fetch_pbd_interaction.robot.Robot.is_arm_moving ( self )

Check if arm is currently moving

Returns:
    bool : True if arm is moving, else False

Definition at line 308 of file robot.py.

def fetch_pbd_interaction.robot.Robot.look_at_ee	(	self,
		follow = `True`
	)

Makes head look at (or follow) end effector position

Args:
    follow (bool, optional) : If True, follow end effector,
                      else, just glance at end effector

Definition at line 383 of file robot.py.

def fetch_pbd_interaction.robot.Robot.look_at_point	(	self,
		point
	)

Points robot's head at point

Args:
    point (Point)

Definition at line 366 of file robot.py.

def fetch_pbd_interaction.robot.Robot.look_down ( self )

Point head down at table

Definition at line 416 of file robot.py.

def fetch_pbd_interaction.robot.Robot.look_forward ( self )

Point head forward

Definition at line 404 of file robot.py.

def fetch_pbd_interaction.robot.Robot.move_arm_to_joints	(	self,
		arm_states,
		times
	)

Move robot's arm to joints positions from arm_state
without planning, just joint interpolation

Args:
    arm_states ([ArmState]) : contains joint position info
Return:
    bool : success

Definition at line 190 of file robot.py.

def fetch_pbd_interaction.robot.Robot.move_arm_to_joints_plan	(	self,
		arm_state
	)

Move robot's arm to joints positions from arm_state
using Moveit to plan

Args:
    arm_state (ArmState) : contains joint position info
Return:
    bool : success

Definition at line 176 of file robot.py.

def fetch_pbd_interaction.robot.Robot.move_arm_to_pose	(	self,
		arm_state
	)

Move robot's arm to pose

Args:
    arm_state (ArmState) : contains pose info
Return:
    bool : success

Definition at line 147 of file robot.py.

def fetch_pbd_interaction.robot.Robot.nod_head	(	self,
		num = `5`
	)

Nods robot's head

Args:
    num (int) : number of times to perform action

Definition at line 344 of file robot.py.

def fetch_pbd_interaction.robot.Robot.play_sound	(	self,
		requested_sound
	)

Play sound that is requested

Args:
    requested_sound (RobotSound.ERROR|etc...) : see RobotSound.msg

Definition at line 436 of file robot.py.

def fetch_pbd_interaction.robot.Robot.relax_arm ( self )

Make sure gravity compensation controller is on and other
controllers are off

Definition at line 298 of file robot.py.

def fetch_pbd_interaction.robot.Robot.reset_arm_movement_history ( self )

Resets movement history of arm

Definition at line 219 of file robot.py.

def fetch_pbd_interaction.robot.Robot.set_gripper_state	(	self,
		gripper_state
	)

Sets state of gripper. Assumed to succeed

Args:
    gripper_state (GripperState.OPEN|GripperState.CLOSED)

Definition at line 240 of file robot.py.

def fetch_pbd_interaction.robot.Robot.shake_head	(	self,
		num = `5`
	)

Shakes robot's head

Args:
    num (int) : number of times to perform action

Definition at line 322 of file robot.py.

def fetch_pbd_interaction.robot.Robot.start_move_arm_to_pose	(	self,
		arm_state
	)

Start thread to move robot's arm to pose

Args:
    arm_state (ArmState) : contains pose info
Return:
    bool : success

Definition at line 161 of file robot.py.