Functions | |
| def | arm_joint_trajectory_action_client |
| def | gripper_command_action_client |
| def | set_model_configuration_client |
| def | set_model_state_client |
Variables | |
| tuple | gripper_command = Pr2GripperCommandGoal() |
| tuple | gripper_pub = rospy.Publisher('/l_gripper_controller/command', Pr2GripperCommand) |
| list | joint_names = ['fl_caster_rotation_joint', 'fl_caster_l_wheel_joint', 'fl_caster_r_wheel_joint', 'fr_caster_rotation_joint', 'fr_caster_l_wheel_joint', 'fr_caster_r_wheel_joint', 'bl_caster_rotation_joint', 'bl_caster_l_wheel_joint', 'bl_caster_r_wheel_joint', 'br_caster_rotation_joint', 'br_caster_l_wheel_joint', 'br_caster_r_wheel_joint', 'head_pan_joint', 'head_tilt_joint', 'laser_tilt_mount_joint', 'r_upper_arm_roll_joint', 'r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_forearm_roll_joint', 'r_elbow_flex_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint', 'r_gripper_joint', 'r_gripper_l_finger_tip_joint', 'r_gripper_r_finger_tip_joint', 'r_gripper_l_finger_joint', 'r_gripper_r_finger_joint', 'l_upper_arm_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint', 'l_forearm_roll_joint', 'l_elbow_flex_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint', 'l_gripper_joint', 'l_gripper_l_finger_tip_joint', 'l_gripper_r_finger_tip_joint', 'l_gripper_l_finger_joint', 'l_gripper_r_finger_joint'] |
| list | joint_positions = [-1.2374515368840378e-05, 13.849011208135753, 13.854646834822727, -2.0182888337494376e-05, 13.867926659094984, 13.87465036000275, -3.0273366892430431e-05, 13.798391413070624, 13.803469733109218, -8.9169276339617909e-05, 13.763956446381279, 13.785982540514944, -0.028014984291522715, 0.522937305713703, 0.23430921400735369, 0.00031428941291178347, -0.40039691465768534, 1.0001709932508449, -0.0016722329173761707, -2.0498051406658426, -0.10004495846217587, -0.0011961845468899668, 0.021801808285971121, 0.01090090414298556, -0.01090090414298556, 0.17441446628776897, -0.17441446628776897, 0.63569515764238282, 0.77977415758334701, 1.0364984164611073, -3.9495641888643505, -1.7985134583697606, -0.28943329621010871, 3.6907943582700078, 0.085993919065644644, 0.042996959532822322, -0.042996959532822322, 0.68795135252515716, -0.68795135252515716] |
| list | l_arm_joint_names = ['l_upper_arm_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint', 'l_forearm_roll_joint', 'l_elbow_flex_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'] |
| list | l_arm_joint_positions = [0.63569515764238282, 0.77977415758334701, 1.0364984164611073, -3.9495641888643505, -1.7985134583697606, -0.80, 3.5] |
| tuple | l_arm_trajectory = JointTrajectoryGoal() |
| string | model_name = 'pr2' |
| string | PKG = 'pr2_pickup_object_demo' |
| tuple | point = JointTrajectoryPoint() |
| tuple | pose = Pose(Point(1.030, 0, 0.0),Quaternion(0 ,0 ,0 , 1)) |
| list | r_arm_joint_names = [ 'r_upper_arm_roll_joint', 'r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_forearm_roll_joint', 'r_elbow_flex_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'] |
| list | r_arm_joint_positions = [ 0.00031428941291178347, -0.40039691465768534, 1.0001709932508449, -0.0016722329173761707, -2.0498051406658426, -0.10004495846217587, -0.0011961845468899668] |
| tuple | r_arm_trajectory = JointTrajectoryGoal() |
| string | reference_frame = 'world' |
| tuple | result = arm_joint_trajectory_action_client('l_arm_controller/joint_trajectory_action',l_arm_trajectory) |
| tuple | timeout = time.time() |
| tuple | twist = Twist(Vector3(0,0,0),Vector3(0,0,0)) |
| def test_grasp.arm_joint_trajectory_action_client | ( | arm, | |
| trajectory | |||
| ) |
Definition at line 60 of file test_grasp.py.
| def test_grasp.gripper_command_action_client | ( | command | ) |
Definition at line 68 of file test_grasp.py.
| def test_grasp.set_model_configuration_client | ( | model_name, | |
| urdf_param_name, | |||
| joint_names, | |||
| joint_positions | |||
| ) |
Definition at line 38 of file test_grasp.py.
| def test_grasp.set_model_state_client | ( | model_name, | |
| pose, | |||
| twist, | |||
| reference_frame | |||
| ) |
Definition at line 49 of file test_grasp.py.
Definition at line 107 of file test_grasp.py.
| tuple test_grasp::gripper_pub = rospy.Publisher('/l_gripper_controller/command', Pr2GripperCommand) |
Definition at line 122 of file test_grasp.py.
| list test_grasp::joint_names = ['fl_caster_rotation_joint', 'fl_caster_l_wheel_joint', 'fl_caster_r_wheel_joint', 'fr_caster_rotation_joint', 'fr_caster_l_wheel_joint', 'fr_caster_r_wheel_joint', 'bl_caster_rotation_joint', 'bl_caster_l_wheel_joint', 'bl_caster_r_wheel_joint', 'br_caster_rotation_joint', 'br_caster_l_wheel_joint', 'br_caster_r_wheel_joint', 'head_pan_joint', 'head_tilt_joint', 'laser_tilt_mount_joint', 'r_upper_arm_roll_joint', 'r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_forearm_roll_joint', 'r_elbow_flex_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint', 'r_gripper_joint', 'r_gripper_l_finger_tip_joint', 'r_gripper_r_finger_tip_joint', 'r_gripper_l_finger_joint', 'r_gripper_r_finger_joint', 'l_upper_arm_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint', 'l_forearm_roll_joint', 'l_elbow_flex_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint', 'l_gripper_joint', 'l_gripper_l_finger_tip_joint', 'l_gripper_r_finger_tip_joint', 'l_gripper_l_finger_joint', 'l_gripper_r_finger_joint'] |
Definition at line 79 of file test_grasp.py.
| list test_grasp::joint_positions = [-1.2374515368840378e-05, 13.849011208135753, 13.854646834822727, -2.0182888337494376e-05, 13.867926659094984, 13.87465036000275, -3.0273366892430431e-05, 13.798391413070624, 13.803469733109218, -8.9169276339617909e-05, 13.763956446381279, 13.785982540514944, -0.028014984291522715, 0.522937305713703, 0.23430921400735369, 0.00031428941291178347, -0.40039691465768534, 1.0001709932508449, -0.0016722329173761707, -2.0498051406658426, -0.10004495846217587, -0.0011961845468899668, 0.021801808285971121, 0.01090090414298556, -0.01090090414298556, 0.17441446628776897, -0.17441446628776897, 0.63569515764238282, 0.77977415758334701, 1.0364984164611073, -3.9495641888643505, -1.7985134583697606, -0.28943329621010871, 3.6907943582700078, 0.085993919065644644, 0.042996959532822322, -0.042996959532822322, 0.68795135252515716, -0.68795135252515716] |
Definition at line 80 of file test_grasp.py.
| list test_grasp::l_arm_joint_names = ['l_upper_arm_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint', 'l_forearm_roll_joint', 'l_elbow_flex_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'] |
Definition at line 83 of file test_grasp.py.
| list test_grasp::l_arm_joint_positions = [0.63569515764238282, 0.77977415758334701, 1.0364984164611073, -3.9495641888643505, -1.7985134583697606, -0.80, 3.5] |
Definition at line 84 of file test_grasp.py.
Definition at line 85 of file test_grasp.py.
| string test_grasp::model_name = 'pr2' |
Definition at line 115 of file test_grasp.py.
| string test_grasp::PKG = 'pr2_pickup_object_demo' |
Definition at line 5 of file test_grasp.py.
| tuple test_grasp::point = JointTrajectoryPoint() |
Definition at line 87 of file test_grasp.py.
| tuple test_grasp::pose = Pose(Point(1.030, 0, 0.0),Quaternion(0 ,0 ,0 , 1)) |
Definition at line 116 of file test_grasp.py.
| list test_grasp::r_arm_joint_names = [ 'r_upper_arm_roll_joint', 'r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_forearm_roll_joint', 'r_elbow_flex_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'] |
Definition at line 95 of file test_grasp.py.
| list test_grasp::r_arm_joint_positions = [ 0.00031428941291178347, -0.40039691465768534, 1.0001709932508449, -0.0016722329173761707, -2.0498051406658426, -0.10004495846217587, -0.0011961845468899668] |
Definition at line 96 of file test_grasp.py.
Definition at line 97 of file test_grasp.py.
| string test_grasp::reference_frame = 'world' |
Definition at line 118 of file test_grasp.py.
| tuple test_grasp::result = arm_joint_trajectory_action_client('l_arm_controller/joint_trajectory_action',l_arm_trajectory) |
Definition at line 92 of file test_grasp.py.
| tuple test_grasp::timeout = time.time() |
Definition at line 126 of file test_grasp.py.
| tuple test_grasp::twist = Twist(Vector3(0,0,0),Vector3(0,0,0)) |
Definition at line 117 of file test_grasp.py.