tabletop_pushing::position_feedback_push_node Namespace Reference

Classes
class	PositionFeedbackPushNode
Functions
def	sign
def	subPIAngle
def	trigAugState
Variables
dictionary	_ARM_ERROR_CODES = {}
dictionary	_POSTURES
	_USE_CONTROLLER_IO = False
	_USE_LEARN_IO = True
tuple	LEFT_ARM_HIGH_PUSH_READY_JOINTS
	LEFT_ARM_HIGH_SWEEP_READY_JOINTS = LEFT_ARM_HIGH_PUSH_READY_JOINTS
tuple	LEFT_ARM_PULL_READY_JOINTS
tuple	LEFT_ARM_READY_JOINTS
tuple	LEFT_ARM_SETUP_JOINTS
tuple	node = PositionFeedbackPushNode()
tuple	RIGHT_ARM_HIGH_PUSH_READY_JOINTS
	RIGHT_ARM_HIGH_SWEEP_READY_JOINTS = RIGHT_ARM_HIGH_PUSH_READY_JOINTS
tuple	RIGHT_ARM_PULL_READY_JOINTS
tuple	RIGHT_ARM_READY_JOINTS
tuple	RIGHT_ARM_SETUP_JOINTS

---

Function Documentation

def tabletop_pushing.position_feedback_push_node.sign

(

x

)

Definition at line 174 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.subPIAngle

(

theta

)

Definition at line 167 of file position_feedback_push_node.py.

def tabletop_pushing.position_feedback_push_node.trigAugState	(		X,
			ndx,
			remove_old = False
	)

Definition at line 179 of file position_feedback_push_node.py.

---

Variable Documentation

dictionary tabletop_pushing::position_feedback_push_node::_ARM_ERROR_CODES = {}

Definition at line 128 of file position_feedback_push_node.py.

dictionary tabletop_pushing::position_feedback_push_node::_POSTURES

Initial value:

{
    'off': [],
    'mantis': [0, 1, 0,  -1, 3.14, -1, 3.14],
    'elbowupr': [-0.79,0,-1.6,  9999, 9999, 9999, 9999],
    'elbowupl': [0.79,0,1.6 , 9999, 9999, 9999, 9999],
    'old_elbowupr': [-0.79,0,-1.6, -0.79,3.14, -0.79,5.49],
    'old_elbowupl': [0.79,0,1.6, -0.79,3.14, -0.79,5.49],
    'elbowdownr': [-0.028262077316910873, 1.2946342642324222, -0.25785640577652386, -1.5498884526859626, -31.278913849571776, -1.0527644894829107, -1.8127318367654268],
    'elbowdownl': [-0.0088195719039858515, 1.2834828245284853, 0.20338442004843196, -1.5565279256852611, -0.096340012666916802, -1.0235018652439782, 1.7990893054129216],
    'gripper_place_r': [-0.58376927, 0.20531188, -1.98435142, -1.35661954, -10.97764169, -0.08100618, -6.48535644],
    'gripper_place_l': [0.9424233, 0.24058796, 2.04239987, -1.4576695 , -1.58940656, -0.5444458 , -6.23912942]
}

Definition at line 115 of file position_feedback_push_node.py.

tabletop_pushing::position_feedback_push_node::_USE_CONTROLLER_IO = False

Definition at line 58 of file position_feedback_push_node.py.

tabletop_pushing::position_feedback_push_node::_USE_LEARN_IO = True

Definition at line 59 of file position_feedback_push_node.py.

tuple tabletop_pushing::position_feedback_push_node::LEFT_ARM_HIGH_PUSH_READY_JOINTS

Initial value:

np.matrix([[0.42427649,
                                              -0.34601608409943324,
                                              1.43411927,
                                              -2.11931035,
                                              -15.78839978,
                                              -1.64163257,
                                              -17.2947453]])

Definition at line 98 of file position_feedback_push_node.py.

tabletop_pushing::position_feedback_push_node::LEFT_ARM_HIGH_SWEEP_READY_JOINTS = LEFT_ARM_HIGH_PUSH_READY_JOINTS

Definition at line 112 of file position_feedback_push_node.py.

tuple tabletop_pushing::position_feedback_push_node::LEFT_ARM_PULL_READY_JOINTS

Initial value:

np.matrix([[0.42427649,
                                         -0.34601608409943324,
                                         1.43411927,
                                         -2.11931035,
                                         82.9984037,
                                         -1.64163257,
                                         -36.16]])

Definition at line 84 of file position_feedback_push_node.py.

tuple tabletop_pushing::position_feedback_push_node::LEFT_ARM_READY_JOINTS

Initial value:

np.matrix([[0.42427649, 0.0656137,
                                    1.43411927, -2.11931035,
                                    -15.78839978, -1.64163257,
                                    -17.2947453]])

Definition at line 76 of file position_feedback_push_node.py.

tuple tabletop_pushing::position_feedback_push_node::LEFT_ARM_SETUP_JOINTS

Initial value:

np.matrix([[1.32734204881265387,
                                    -0.34601608409943324,
                                    1.4620635485239604,
                                    -1.2729772622637399,
                                    7.5123303230158518,
                                    -1.5570651396529178,
                                    -5.5929916630672727]])

Definition at line 62 of file position_feedback_push_node.py.

tuple tabletop_pushing::position_feedback_push_node::node = PositionFeedbackPushNode()

Definition at line 2165 of file position_feedback_push_node.py.

tuple tabletop_pushing::position_feedback_push_node::RIGHT_ARM_HIGH_PUSH_READY_JOINTS

Initial value:

np.matrix([[-0.42427649,
                                                -0.34601608409943324,
                                                -1.43411927,
                                                -2.11931035,
                                                15.78839978,
                                                -1.64163257,
                                                8.64421842e+01]])

Definition at line 105 of file position_feedback_push_node.py.

tabletop_pushing::position_feedback_push_node::RIGHT_ARM_HIGH_SWEEP_READY_JOINTS = RIGHT_ARM_HIGH_PUSH_READY_JOINTS

Definition at line 113 of file position_feedback_push_node.py.

tuple tabletop_pushing::position_feedback_push_node::RIGHT_ARM_PULL_READY_JOINTS

Initial value:

np.matrix([[-0.42427649,
                                         -0.34601608409943324,
                                         -1.43411927,
                                         -2.11931035,
                                         -82.9984037,
                                         -1.64163257,
                                         54.8]])

Definition at line 91 of file position_feedback_push_node.py.

tuple tabletop_pushing::position_feedback_push_node::RIGHT_ARM_READY_JOINTS

Initial value:

np.matrix([[-0.42427649, 0.0656137,
                                     -1.43411927, -2.11931035,
                                     15.78839978, -1.64163257,
                                     8.64421842e+01]])

Definition at line 80 of file position_feedback_push_node.py.

tuple tabletop_pushing::position_feedback_push_node::RIGHT_ARM_SETUP_JOINTS

Initial value:

np.matrix([[-1.32734204881265387,
                                      -0.34601608409943324,
                                      -1.4620635485239604,
                                      -1.2729772622637399,
                                      -7.5123303230158518,
                                      -1.5570651396529178,
                                      -7.163787989862169]])

Definition at line 69 of file position_feedback_push_node.py.