Functions
def	setTargetPoseSequenceMoveIt (limb, pos_list, rpy_list, tm_list)

def	setTargetPoseSequenceRTM (limb, pos_list, rpy_list, tm_list)

Variables
	circ_rpys = nxtpp.samePostureRPY([-3.073437, -1.569023, 3.073247], len(circ_xyzs))

	circ_time = nxtpp.equalTimeList(10.0, len(circ_xyzs))

	circ_xyzs = nxtpp.circularPositions(center=[0.35, 0.1, 0.1], radius=0.1 ,steps=12)

string	limb_name = 'larm'

	play_pattern_arm = setTargetPoseSequenceMoveIt(limb_name, positions_arm, rpys_arm, time_list)

	play_pattern_time = time_list

list	positions_arm = []

	rect_rpys = nxtpp.samePostureRPY([-3.073437, -1.569023, 3.073247], len(rect_xyzs))

	rect_time = nxtpp.equalTimeList(10.0, len(rect_xyzs))

	rect_xyzs = nxtpp.rectangularPositions(dp_a=[0.25, 0.0, 0.1], dp_b=[0.45, 0.2, 0.1])

	robot = nextage_client.NextageClient()

	robotname

list	rpys_arm = []

list	time_list = []

Function Documentation

def nextage_rtm_playpattern2.setTargetPoseSequenceMoveIt	(	limb,
		pos_list,
		rpy_list,
		tm_list
	)

Create a array of limb joint angles for the each waypoints
from data of the end effector postions and postures
using MoveIt! IK for computing joint angles.

@type  limb     : str
@param limb     : limb to create a pattern, right arm 'rarm' or left arm 'larm'
@type  pos_list : [[float,float,float],[float,float,float],...]
@param pos_list : Array of end effector positions (x,y,z) [m]
@type  rpy_list : [[float,float,float],[float,float,float],...]
@param rpy_list : Array of end effector postures (r,p,y) [m]
@type  tm_list  : [float,float,...]
@param tm_list  : Array of motion time lengths of the each pose [s]

@rtype  : [[float,float,...],[float,float,...],...]
@return : Array of limb joint angles [rad]

Definition at line 80 of file nextage_rtm_playpattern2.py.

def nextage_rtm_playpattern2.setTargetPoseSequenceRTM	(	limb,
		pos_list,
		rpy_list,
		tm_list
	)

Create a array of limb joint angles for the each waypoints
from data of the end effector postions and postures
using robot moving using RTM interface.

@type  limb     : str
@param limb     : limb to create a pattern, right arm 'rarm' or left arm 'larm'
@type  pos_list : [[float,float,float],[float,float,float],...]
@param pos_list : Array of end effector positions (x,y,z) [m]
@type  rpy_list : [[float,float,float],[float,float,float],...]
@param rpy_list : Array of end effector postures (r,p,y) [m]
@type  tm_list  : [float,float,...]
@param tm_list  : Array of motion time lengths of the each pose [s]

@rtype  : [[float,float,...],[float,float,...],...]
@return : Array of limb joint angles [rad]

Definition at line 49 of file nextage_rtm_playpattern2.py.