Allows one to move the arm through a set of joint angles safely and controller agnostic. More...

Public Member Functions
def	__init__
def	can_exec_traj
	Determines whether or not the arm can execute the trajectory by checking the first joint configuration and seeing whether or not it is within joint tolerances.
def	execute
	Plays back the specified trajectory.
def	get_angle_traj
def	is_moving
def	load_arm
	Switches controllers and returns an instance of the arm to control.
def	move_to_angles
	Executes a linearly interpolated trajectory from the current joint angles to the q_goal angles.
def	pause_moving
	Pauses the movement of the trajectory but doesn't reset its position in the array.
def	preempt
def	restart_moving
	Restarts the currently running movement after being paused.
def	stop_moving
	Stops the movement of the trajectory and resets the trajectory so it cannot restart.
Public Attributes
	arm_char
	ctrl_name
	ctrl_switcher
	cur_arm
	cur_idx
	cur_joint_traj
	exec_traj_timer
	is_paused
	last_rate
	param_file
	running
	stop_traj

Detailed Description

Allows one to move the arm through a set of joint angles safely and controller agnostic.

Definition at line 32 of file traj_playback.py.

Constructor & Destructor Documentation

def hrl_pr2_traj_playback.traj_playback.TrajPlayback.__init__	(	self,
		arm_char,
		ctrl_name = `"%s_arm_controller"`,
		param_file = `None`
	)

Parameters:

arm_char	'r' or 'l' to choose which arm to load
ctrl_name	name of the controller to load from the param_file
param_file	Location of the parameter file which specifies the controller (e.g. "$(find hrl_pr2_arms)/params/joint_traj_params_electric_low.yaml")

Definition at line 38 of file traj_playback.py.

Member Function Documentation

def hrl_pr2_traj_playback.traj_playback.TrajPlayback.can_exec_traj	(	self,
		joint_trajectory
	)

Determines whether or not the arm can execute the trajectory by checking the first joint configuration and seeing whether or not it is within joint tolerances.

Parameters:

joint_trajectory List of lists of length 7 representing joint angles to move through.

Returns:: True if the arm is at the beginning, False otherwise.

Definition at line 136 of file traj_playback.py.

def hrl_pr2_traj_playback.traj_playback.TrajPlayback.execute	(	self,
		joint_trajectory,
		rate,
		blocking = `True`
	)

Plays back the specified trajectory.

The arm must currently be at the first joint configuration specified in the joint trajectory within a certain degree of tolerance.

Parameters:

joint_trajectory	List of lists of length 7 representing joint angles to move through.
rate	Frequency with which to iterate through the list.
blocking	If True, the function will wait until done, if False, it will return immediately

Definition at line 64 of file traj_playback.py.

def hrl_pr2_traj_playback.traj_playback.TrajPlayback.get_angle_traj	(	self,
		q_goal,
		rate = `RATE`,
		velocity = `0.1`
	)

Definition at line 119 of file traj_playback.py.

def hrl_pr2_traj_playback.traj_playback.TrajPlayback.is_moving ( self )

Definition at line 144 of file traj_playback.py.

def hrl_pr2_traj_playback.traj_playback.TrajPlayback.load_arm ( self )

Switches controllers and returns an instance of the arm to control.

Definition at line 50 of file traj_playback.py.

def hrl_pr2_traj_playback.traj_playback.TrajPlayback.move_to_angles	(	self,
		q_goal,
		rate = `RATE`,
		velocity = `0.1`,
		blocking = `True`
	)

Executes a linearly interpolated trajectory from the current joint angles to the q_goal angles.

Parameters:

q_goal	List of length 7 representing the desired end configuration.
rate	Rate with which to execute trajectory.
velocity	Speed (~rad/s) to move based on a heursitic which weighs relative joint speeds. The elbow will not move quicker than the velocity in rad/s.
blocking	If True, the function will wait until done, if False, it will return immediately

Definition at line 113 of file traj_playback.py.

def hrl_pr2_traj_playback.traj_playback.TrajPlayback.pause_moving ( self )

Pauses the movement of the trajectory but doesn't reset its position in the array.

Definition at line 149 of file traj_playback.py.

def hrl_pr2_traj_playback.traj_playback.TrajPlayback.preempt ( self )

Definition at line 175 of file traj_playback.py.