arm_client.MekaArmClient Class Reference

List of all members.

Public Member Functions
def	__init__
def	bias_wrist_ft
def	end_effector_pos
	Returns the current position, rotation of the arm.
def	get_impedance_scale
def	get_jep
def	get_joint_accelerations
def	get_joint_angles
def	get_joint_torques
def	get_joint_velocities
def	get_wrist_force
def	get_wrist_torque
def	go_cep
def	go_cep_interpolate
	linearly interpolates the commanded cep.
def	go_jep
	Function that commands the arm(s) to incrementally move to a jep.
def	is_motor_power_on
def	l_arm_alpha_cb
def	l_arm_force_cb
def	l_arm_jep_cb
def	l_arm_q_cb
def	l_arm_raw_force_cb
def	motors_off
def	move_till_hit
def	power_on
def	pwr_state_cb
def	r_arm_alpha_cb
def	r_arm_force_cb
def	r_arm_jep_cb
def	r_arm_q_cb
def	r_arm_raw_force_cb
def	set_impedance_scale
def	set_jep
def	stop
Public Attributes
	arms
	cb_lock
	cep_marker_pub
	fts_bias
	joint_names_list
	l_alph_cmd_pub
	l_arm_alpha
	l_arm_force
	l_arm_jep
	l_arm_q
	l_arm_raw_force
	l_jep_cmd_pub
	left_arm_ft
	motors_off_pub
	pwr_state
	r_alph_cmd_pub
	r_arm_alpha
	r_arm_force
	r_arm_jep
	r_arm_q
	r_arm_raw_force
	r_jep_cmd_pub
	right_arm_ft
	stop_pub
	toggle_floating_arms

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Detailed Description

Definition at line 59 of file arm_client.py.

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Constructor & Destructor Documentation

def arm_client.MekaArmClient.__init__	(		self,
			arms
	)

Parameters:

arms,:

object of the ArmKinematics class.

Definition at line 62 of file arm_client.py.

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Member Function Documentation

def arm_client.MekaArmClient.bias_wrist_ft	(		self,
			arm
	)

Definition at line 235 of file arm_client.py.

def arm_client.MekaArmClient.end_effector_pos	(		self,
			arm
	)

Returns the current position, rotation of the arm.

Parameters:

arm	0 for right, 1 for left

Returns:

position, rotation

Definition at line 189 of file arm_client.py.

def arm_client.MekaArmClient.get_impedance_scale	(		self,
			arm
	)

Returns:

list of floats b/w 0 and 1.

Definition at line 254 of file arm_client.py.

def arm_client.MekaArmClient.get_jep	(		self,
			arm
	)

Definition at line 280 of file arm_client.py.

def arm_client.MekaArmClient.get_joint_accelerations	(		self,
			arm
	)

Definition at line 484 of file arm_client.py.

def arm_client.MekaArmClient.get_joint_angles	(		self,
			arm
	)

Returns:

list of 7 joint angles.

Definition at line 195 of file arm_client.py.

def arm_client.MekaArmClient.get_joint_torques	(		self,
			arm
	)

Definition at line 488 of file arm_client.py.

def arm_client.MekaArmClient.get_joint_velocities	(		self,
			arm
	)

Definition at line 480 of file arm_client.py.

def arm_client.MekaArmClient.get_wrist_force	(		self,
			arm,
			bias = True,
			base_frame = False,
			filtered = True
	)

Definition at line 207 of file arm_client.py.

def arm_client.MekaArmClient.get_wrist_torque	(		self,
			arm,
			bias = True
	)

Definition at line 492 of file arm_client.py.

def arm_client.MekaArmClient.go_cep	(		self,
			arm,
			p,
			rot,
			speed = 0.10,
			stopping_function = None,
			q_guess = None
	)

Definition at line 368 of file arm_client.py.

def arm_client.MekaArmClient.go_cep_interpolate	(		self,
			arm,
			p,
			rot = None,
			speed = 0.10,
			stopping_function = None
	)

linearly interpolates the commanded cep.

Parameters:

arm	- 'left_arm' or 'right_arm'
p	- 3x1 np matrix
rot	- rotation matrix
speed	- linear speed (m/s)
stopping_function	- returns True or False

Returns:

string (reason for stopping)

Definition at line 394 of file arm_client.py.

def arm_client.MekaArmClient.go_jep	(		self,
			arm,
			q,
			stopping_function = None,
			speed = math.radians(30)
	)

Function that commands the arm(s) to incrementally move to a jep.

Parameters:

speed

the max angular speed (in radians per second)

Returns:

'reach'

Definition at line 312 of file arm_client.py.

def arm_client.MekaArmClient.is_motor_power_on

(

self

)

Definition at line 365 of file arm_client.py.

def arm_client.MekaArmClient.l_arm_alpha_cb	(		self,
			msg
	)

Definition at line 149 of file arm_client.py.

def arm_client.MekaArmClient.l_arm_force_cb	(		self,
			msg
	)

Definition at line 169 of file arm_client.py.

def arm_client.MekaArmClient.l_arm_jep_cb	(		self,
			msg
	)

Definition at line 139 of file arm_client.py.

def arm_client.MekaArmClient.l_arm_q_cb	(		self,
			msg
	)

Definition at line 159 of file arm_client.py.

def arm_client.MekaArmClient.l_arm_raw_force_cb	(		self,
			msg
	)

Definition at line 179 of file arm_client.py.

def arm_client.MekaArmClient.motors_off

(

self

)

Definition at line 471 of file arm_client.py.

def arm_client.MekaArmClient.move_till_hit	(		self,
			arm,
			vec = np.matrix([0.3,0.,
			T,
			force_threshold = 3.0,
			speed = 0.1,
			bias_FT = True
	)

Parameters:

vec	- displacement vector (base frame)
q_guess	- previous JEP?

Returns:

string

Definition at line 447 of file arm_client.py.

def arm_client.MekaArmClient.power_on

(

self

)

Definition at line 496 of file arm_client.py.

def arm_client.MekaArmClient.pwr_state_cb	(		self,
			msg
	)

Definition at line 119 of file arm_client.py.

def arm_client.MekaArmClient.r_arm_alpha_cb	(		self,
			msg
	)

Definition at line 144 of file arm_client.py.

def arm_client.MekaArmClient.r_arm_force_cb	(		self,
			msg
	)

Definition at line 164 of file arm_client.py.

def arm_client.MekaArmClient.r_arm_jep_cb	(		self,
			msg
	)

Definition at line 124 of file arm_client.py.

def arm_client.MekaArmClient.r_arm_q_cb	(		self,
			msg
	)

Definition at line 154 of file arm_client.py.

def arm_client.MekaArmClient.r_arm_raw_force_cb	(		self,
			msg
	)

Definition at line 174 of file arm_client.py.

def arm_client.MekaArmClient.set_impedance_scale	(		self,
			arm,
			s
	)

Parameters:

s	- list of floats b/w 0 and 1.

Definition at line 268 of file arm_client.py.

def arm_client.MekaArmClient.set_jep	(		self,
			arm,
			q,
			duration = None
	)

Parameters:

q	- list of 7 joint angles in RADIANS. according to meka's coordinate frames.
duration	- for compatibility with the PR2 class.

Definition at line 295 of file arm_client.py.

def arm_client.MekaArmClient.stop

(

self

)

Definition at line 362 of file arm_client.py.

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Member Data Documentation

arm_client.MekaArmClient::arms

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::cb_lock

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::cep_marker_pub

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::fts_bias

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::joint_names_list

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::l_alph_cmd_pub

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::l_arm_alpha

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::l_arm_force

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::l_arm_jep

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::l_arm_q

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::l_arm_raw_force

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::l_jep_cmd_pub

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::left_arm_ft

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::motors_off_pub

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::pwr_state

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::r_alph_cmd_pub

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::r_arm_alpha

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::r_arm_force

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::r_arm_jep

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::r_arm_q

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::r_arm_raw_force

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::r_jep_cmd_pub

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::right_arm_ft

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::stop_pub

Definition at line 62 of file arm_client.py.

arm_client.MekaArmClient::toggle_floating_arms

Definition at line 62 of file arm_client.py.

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

• arm_client.py