Class which extends the PR2ArmCartBase to provide functionality for changing the posture. More...

Inheritance diagram for hrl_pr2_arms.pr2_arm_cart_base.PR2ArmCartPostureBase:

Public Member Functions
def	__init__
def	set_posture
	Sets the null-space posture the arm will attempt to reach with its extra degree of freedom.
Public Attributes
	command_posture_pub

Detailed Description

Class which extends the PR2ArmCartBase to provide functionality for changing the posture.

Definition at line 103 of file pr2_arm_cart_base.py.

Constructor & Destructor Documentation

def hrl_pr2_arms.pr2_arm_cart_base.PR2ArmCartPostureBase.__init__	(	self,
		arm_side,
		urdf,
		base_link = `'torso_lift_link'`,
		end_link = `'%s_gripper_tool_frame'`,
		controller_name = `'/%s_cart'`,
		kdl_tree = `None`,
		timeout = `1.`
	)

Definition at line 104 of file pr2_arm_cart_base.py.

def hrl_pr2_arms.pr2_arm_cart_base.PR2ArmCartPostureBase.set_posture	(	self,
		posture = `None`
	)

Sets the null-space posture the arm will attempt to reach with its extra degree of freedom.

Parameters:

List	of joint angles representing the posture. If any element is None, posture control is disabled for that joint. If posture is None, posture control is disabled for all joints.

Definition at line 117 of file pr2_arm_cart_base.py.

Definition at line 104 of file pr2_arm_cart_base.py.

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