Public Member Functions
def	__init__
def	add_arm_target_to_action
def	add_grasp_to_action
def	clear_current_action
def	copy_action
def	copy_primitive
def	delete_action
def	delete_action_current_action
def	delete_last_primitive
def	delete_primitive
def	execute_current_action
def	execute_primitive
def	get_current_action
def	head_busy
def	hide_primitive_marker
def	n_actions
def	n_primitives
def	new_action
def	next_action
def	previous_action
def	publish_primitive_tf
def	record_objects
def	select_action_primitive
def	show_primitive_marker
def	start_recording_arm_trajectory
def	stop_recording_arm_trajectory
def	switch_primitive_order
def	switch_to_action_by_index
def	switch_to_action_by_name
def	update_action_name
def	update_arm_trajectory
def	update_primitive_pose
Private Member Functions
def	_action_change_cb
def	_async_update_session_state
def	_get_action_names
def	_get_actions_disabled
def	_get_marker_visibility
def	_get_primitive_names
def	_get_primitive_positions_orientations
def	_get_primitives_editable
def	_get_ref_frame_names
def	_get_session_state
def	_get_session_state_cb
def	_load_session_state
def	_publish_primitive_tf
def	_selected_primitive_cb
def	_update_db_with_action
def	_update_db_with_current_action
def	_update_session_state
Private Attributes
	_action_ids
	_actions
	_actions_disabled
	_clear_world_objects_srv
	_couch
	_current_action_id
	_current_arm_trajectory
	_db
	_external_ee_link
	_from_file
	_get_object_list_srv
	_grasp_feedback_topic
	_grasp_suggestion_service
	_head_busy
	_im_server
	_json
	_lock
	_marker_visibility
	_robot
	_selected_primitive
	_state_publisher
	_status_publisher
	_tf_broadcaster
	_tf_listener
	_to_file
	_update_world_srv

Detailed Description

Everything related to the state of actions and primitives
in the current session

Definition at line 41 of file session.py.

Constructor & Destructor Documentation

def fetch_pbd_interaction.session.Session.__init__	(	self,
		robot,
		_tf_listener,
		im_server,
		from_file = `None`,
		to_file = `None`,
		grasp_suggestion_service_name = `None`,
		grasp_feedback_topic = `None`,
		external_ee_link = `None`
	)

Args:
    robot (Robot) : interface to lower level robot functionality
    tf_listener (TransformListener)
    im_server (InteractiveMarkerSerever)

Definition at line 46 of file session.py.

Member Function Documentation

def fetch_pbd_interaction.session.Session._action_change_cb ( self ) [private]

Updates the db when primitive deleted.

Definition at line 855 of file session.py.

def fetch_pbd_interaction.session.Session._async_update_session_state ( self ) [private]

Launches a new thread to asynchronously update experiment
state.

Definition at line 872 of file session.py.

def fetch_pbd_interaction.session.Session._get_action_names ( self ) [private]

Return the names of all of the actions in the session

Returns:
    [string]

Definition at line 920 of file session.py.

def fetch_pbd_interaction.session.Session._get_actions_disabled ( self ) [private]

Returns whether each action is disabled currently 
(due to grasp suggestion not being available)

Returns:
    [bool]

Definition at line 973 of file session.py.

def fetch_pbd_interaction.session.Session._get_marker_visibility ( self ) [private]

Get the visibility of the markers

Returns:
    [bool]

Definition at line 797 of file session.py.

def fetch_pbd_interaction.session.Session._get_primitive_names ( self ) [private]

Returns a list of the names of the
primitives of the current action.

Returns:
    [str]

Definition at line 959 of file session.py.

def fetch_pbd_interaction.session.Session._get_primitive_positions_orientations ( self ) [private]

Returns positions and orientations of primitives

Returns:
    Point[], OrientationRPY[]

Definition at line 947 of file session.py.

def fetch_pbd_interaction.session.Session._get_primitives_editable ( self ) [private]

Returns list of whether primitive poses are editable

Returns:
    [bool]

Definition at line 984 of file session.py.

def fetch_pbd_interaction.session.Session._get_ref_frame_names ( self ) [private]

Returns a list of the names of the reference frames for the
primitives of the current action.

Returns:
    [str]

Definition at line 933 of file session.py.

def fetch_pbd_interaction.session.Session._get_session_state ( self ) [private]

Creates and returns a message with the latest state.

Returns:
    SessionState

Definition at line 890 of file session.py.

def fetch_pbd_interaction.session.Session._get_session_state_cb	(	self,
		req
	)	`[private]`

Response to the experiment state service call.

Args:
    req (GetSessionStateRequest): Unused.
Returns:
    GetSessionStateResponse

Definition at line 862 of file session.py.

def fetch_pbd_interaction.session.Session._load_session_state ( self ) [private]

Loads the experiment state from couchdb database or json file.

Definition at line 996 of file session.py.

def fetch_pbd_interaction.session.Session._publish_primitive_tf	(	self,
		primitive,
		parent = `"base_link"`
	)	`[private]`

Publishes a TF for primitive

Args:
    primitive (Primitive)
    parent (str): The parent reference frame.

Definition at line 1057 of file session.py.

def fetch_pbd_interaction.session.Session._selected_primitive_cb	(	self,
		selected_primitive
	)	`[private]`

Updates the selected primitive when interactive markers are
clicked on.

Args:
    selected_primitive (int): ID of the primitive selected.

Definition at line 842 of file session.py.

def fetch_pbd_interaction.session.Session._update_db_with_action	(	self,
		action,
		db_file = `None`
	)	`[private]`

Adds action to db if it does not already exist.
Or if it exists, delete the existing entry and replace with
update version

Args:
    action (Action)

Definition at line 807 of file session.py.

def fetch_pbd_interaction.session.Session._update_db_with_current_action ( self ) [private]

Adds current action to db if it does not already exist.
Or if it exists, delete the existing entry and replace with
update version

Definition at line 832 of file session.py.

def fetch_pbd_interaction.session.Session._update_session_state ( self ) [private]

Publishes a message with the latest state.

Definition at line 879 of file session.py.

def fetch_pbd_interaction.session.Session.add_arm_target_to_action ( self )

Add a new ArmTarget primitive to the current action.

Definition at line 247 of file session.py.

def fetch_pbd_interaction.session.Session.add_grasp_to_action	(	self,
		landmark
	)

Add a grasp primitive to the current action.

Args:
    landmark (Landmark)

Definition at line 265 of file session.py.

def fetch_pbd_interaction.session.Session.clear_current_action ( self )

Removes all primitives in the current action.

Definition at line 207 of file session.py.

def fetch_pbd_interaction.session.Session.copy_action	(	self,
		action_id
	)

Make a copy of action

Args:
    action_id (int)

Definition at line 417 of file session.py.

def fetch_pbd_interaction.session.Session.copy_primitive	(	self,
		primitive_number
	)

Make a copy of a primitive

Args:
    primitive (int)

Definition at line 452 of file session.py.

def fetch_pbd_interaction.session.Session.delete_action	(	self,
		action_id
	)

Deletes action by id

Args:
    action_id (string|int)

Definition at line 511 of file session.py.

def fetch_pbd_interaction.session.Session.delete_action_current_action ( self )

Delete current action

Definition at line 507 of file session.py.

def fetch_pbd_interaction.session.Session.delete_last_primitive ( self )

Removes the last primitive of the action.

Definition at line 286 of file session.py.

def fetch_pbd_interaction.session.Session.delete_primitive	(	self,
		primitive_number
	)

Delete specified primitive

Args:
    primitive_number (int) : Number of primitive to be deleted

Definition at line 584 of file session.py.

def fetch_pbd_interaction.session.Session.execute_current_action ( self )

Executes current action

Returns:
    bool

Definition at line 690 of file session.py.

def fetch_pbd_interaction.session.Session.execute_primitive	(	self,
		primitive_number
	)

Execute primitive with number

Args:
    primitive_number (int)

Definition at line 622 of file session.py.

def fetch_pbd_interaction.session.Session.get_current_action ( self )

Returns the current action.

Returns:
    Action

Definition at line 195 of file session.py.

def fetch_pbd_interaction.session.Session.head_busy ( self )

Returns true if head is busy

Returns:
    bool

Definition at line 125 of file session.py.

def fetch_pbd_interaction.session.Session.hide_primitive_marker	(	self,
		primitive_number
	)

Hide marker with primitive_number

Args:
    primitive_number (int)

Definition at line 596 of file session.py.

def fetch_pbd_interaction.session.Session.n_actions ( self )

Returns the number of actions programmed so far.

Returns:
    int

Definition at line 187 of file session.py.

def fetch_pbd_interaction.session.Session.n_primitives ( self )

Returns the number of primitives in the current action, or 0 if
there is no current action.

Returns:
    int

Definition at line 393 of file session.py.

def fetch_pbd_interaction.session.Session.new_action	(	self,
		name = `None`
	)

Creates new action.

Definition at line 153 of file session.py.

def fetch_pbd_interaction.session.Session.next_action ( self )

Switches to the next action.

Returns:
    bool: Whether successfully switched to the next action.

Definition at line 367 of file session.py.

def fetch_pbd_interaction.session.Session.previous_action ( self )

Switches to the previous action.

Returns:
    bool: Whether successfully switched to the previous action.

Definition at line 380 of file session.py.

def fetch_pbd_interaction.session.Session.publish_primitive_tf ( self )

Publish tf frame for each primitive of current action

Definition at line 772 of file session.py.

def fetch_pbd_interaction.session.Session.record_objects ( self )

Records poses of objects

Definition at line 674 of file session.py.

def fetch_pbd_interaction.session.Session.select_action_primitive	(	self,
		primitive_id
	)

Makes the interactive marker for the indicated action primitive
selected by showing the 6D controls.

Args:
    primitive_id (int): ID of the primitive to select.

Definition at line 136 of file session.py.

def fetch_pbd_interaction.session.Session.show_primitive_marker	(	self,
		primitive_number
	)

Show marker with primitive_number

Args:
    primitive_number (int)

Definition at line 609 of file session.py.

def fetch_pbd_interaction.session.Session.start_recording_arm_trajectory ( self )

Creates ArmTrajectory primitive that will be updated
by update_arm_trajectory

Definition at line 224 of file session.py.

def fetch_pbd_interaction.session.Session.stop_recording_arm_trajectory ( self )

Finalises ArmTrajectory primitive.
Updates the references frames and saves it to the db.

Definition at line 233 of file session.py.

def fetch_pbd_interaction.session.Session.switch_primitive_order	(	self,
		old_index,
		new_index
	)

Change the order of primitives in action

Args:
    old_index (int)
    new_index (int)

Definition at line 563 of file session.py.

def fetch_pbd_interaction.session.Session.switch_to_action_by_index	(	self,
		index
	)

Switches to action with index

Args:
    index (int): The action id to switch to.

Returns:
    bool: Whether successfully switched to index action.

Definition at line 296 of file session.py.

def fetch_pbd_interaction.session.Session.switch_to_action_by_name	(	self,
		name
	)

Switches to action with name

    Args:
name (str): The action name to switch to.

    Returns:
bool: Whether successfully switched to index action.

Definition at line 351 of file session.py.

def fetch_pbd_interaction.session.Session.update_action_name	(	self,
		name
	)

Update name of current action

Args:
    name (string)

Definition at line 407 of file session.py.

def fetch_pbd_interaction.session.Session.update_arm_trajectory ( self )

Saves current arm state into continuous trajectory.

Definition at line 216 of file session.py.

def fetch_pbd_interaction.session.Session.update_primitive_pose	(	self,
		primitive_number,
		position,
		orientation
	)

Update pose of primitive given by primitive_number

Args:
    primitive_number (int)
    position (Point)
    orientation (OrientationRPY)

Definition at line 782 of file session.py.