Functions | Variables
r2_helper Namespace Reference

Functions

def getJointCommand
def makeLeftHandSetpointMarker
def makeRightHandSetpointMarker
def ParseTableScene
def SegmentTableTop
def Servo
def SetArmsToCartMode
def SetArmToCartMode
def SetArmToJointMode
def SetPower
def SetUpMeshData

Variables

string backpack_mesh = "package://r2_description/meshes/Backpack.dae"
tuple backpack_mesh_pose = Pose()
string body_mesh = "package://r2_description/meshes/Body_Cover.dae"
string finger_dist_mesh = "package://r2_description/meshes/Finger_Dist.dae"
string finger_mid_mesh = "package://r2_description/meshes/Finger_Mid.dae"
string finger_prox_mesh = "package://r2_description/meshes/Finger_Proximal.dae"
tuple gaze_pose_pub = rospy.Publisher('r2_controller/gaze/pose_command', PoseStamped)
string head_mesh = "package://r2_description/meshes/Head.dae"
tuple head_mesh_pose = Pose()
tuple left_jnt_pub = rospy.Publisher('r2_controller/left_arm/joint_command', JointState)
string left_palm_mesh = "package://r2_description/meshes/Left_Palm.dae"
tuple left_palm_mesh_pose = Pose()
tuple left_pose_pub = rospy.Publisher('r2_controller/left/pose_command', PoseStamped)
string left_thumb_carp_mesh = "package://r2_description/meshes/Left_Thumb_Carp.dae"
string left_thumb_carp_mtcar = "package://r2_description/meshes/Left_Thumb_MtCar.dae"
list leftArmJointNames = ['/r2/left_arm/joint'+str(i) for i in range(7)]
tuple leftCartReadyPose = PoseStamped()
tuple leftHandClose = JointState()
 leftHandNames = leftThumbJointNames+leftIndexJointNames+leftMiddleJointNames+leftRingJointNames+leftLittleJointNames
tuple leftHandOpen = JointState()
tuple leftHandPowerClose = JointState()
tuple leftHandPowerCloseThumb = JointState()
list leftIndexJointNames = ['/r2/left_arm/hand/index/joint'+str(i) for i in range(3)]
 leftJointNames = leftArmJointNames+leftHandNames
tuple leftJointReadyPose = JointState()
list leftLittleJointNames = ['/r2/left_arm/hand/little/joint'+str(i) for i in range(1)]
list leftMiddleJointNames = ['/r2/left_arm/hand/middle/joint'+str(i) for i in range(3)]
list leftRingJointNames = ['/r2/left_arm/hand/ring/joint'+str(i) for i in range(1)]
list leftThumbJointNames = ['/r2/left_arm/hand/thumb/joint' +str(i) for i in range(4)]
tuple neck_jnt_pub = rospy.Publisher('r2_controller/neck/joint_command', JointState)
list neckJointNames = ['/r2/neck/joint0', '/r2/neck/joint1', '/r2/neck/joint2']
tuple neckJointReadyPose = JointState()
tuple right_jnt_pub = rospy.Publisher('r2_controller/right_arm/joint_command', JointState)
string right_palm_mesh = "package://r2_description/meshes/Right_Palm.dae"
tuple right_palm_mesh_pose = Pose()
tuple right_pose_pub = rospy.Publisher('r2_controller/right/pose_command', PoseStamped)
string right_thumb_carp_mesh = "package://r2_description/meshes/Left_Thumb_Carp.dae"
string right_thumb_carp_mtcar = "package://r2_description/meshes/Right_Thumb_MtCar.dae"
list rightArmJointNames = ['/r2/right_arm/joint'+str(i) for i in range(7)]
tuple rightCartReadyPose = PoseStamped()
tuple rightHandClose = JointState()
 rightHandNames = rightThumbJointNames+rightIndexJointNames+rightMiddleJointNames+rightRingJointNames+rightLittleJointNames
tuple rightHandOpen = JointState()
tuple rightHandPowerClose = JointState()
tuple rightHandPowerCloseThumb = JointState()
list rightIndexJointNames = ['/r2/right_arm/hand/index/joint'+str(i) for i in range(3)]
 rightJointNames = rightArmJointNames+rightHandNames
tuple rightJointReadyPose = JointState()
list rightLittleJointNames = ['/r2/right_arm/hand/little/joint'+str(i) for i in range(1)]
list rightMiddleJointNames = ['/r2/right_arm/hand/middle/joint'+str(i) for i in range(3)]
list rightRingJointNames = ['/r2/right_arm/hand/ring/joint'+str(i) for i in range(1)]
list rightThumbJointNames = ['/r2/right_arm/hand/thumb/joint'+str(i) for i in range(4)]
string thumb_dist_mesh = "package://r2_description/meshes/Thumb_Dist.dae"
string thumb_prox_mesh = "package://r2_description/meshes/Thumb_Proximal.dae"
float TODEG = 1.0
float TORAD = 180.0
tuple waist_jnt_pub = rospy.Publisher('r2_controller/waist/joint_command', JointState)
tuple waist_mesh_pose = Pose()
list waistJointNames = ['/r2/waist/joint0']
tuple waistJointReadyPose = JointState()

Function Documentation

def r2_helper.getJointCommand (   jd,
  name,
  d 
)

Definition at line 340 of file r2_helper.py.

Definition at line 351 of file r2_helper.py.

Definition at line 358 of file r2_helper.py.

Definition at line 151 of file r2_helper.py.

Definition at line 140 of file r2_helper.py.

def r2_helper.Servo (   s,
  mode 
)

Definition at line 126 of file r2_helper.py.

def r2_helper.SetArmsToCartMode (   left_frame,
  right_frame 
)

Definition at line 84 of file r2_helper.py.

def r2_helper.SetArmToCartMode (   arm,
  frame 
)

Definition at line 88 of file r2_helper.py.

Definition at line 100 of file r2_helper.py.

def r2_helper.SetPower (   p)

Definition at line 112 of file r2_helper.py.

Definition at line 292 of file r2_helper.py.


Variable Documentation

string r2_helper::backpack_mesh = "package://r2_description/meshes/Backpack.dae"

Definition at line 74 of file r2_helper.py.

Definition at line 81 of file r2_helper.py.

string r2_helper::body_mesh = "package://r2_description/meshes/Body_Cover.dae"

Definition at line 72 of file r2_helper.py.

string r2_helper::finger_dist_mesh = "package://r2_description/meshes/Finger_Dist.dae"

Definition at line 70 of file r2_helper.py.

string r2_helper::finger_mid_mesh = "package://r2_description/meshes/Finger_Mid.dae"

Definition at line 69 of file r2_helper.py.

string r2_helper::finger_prox_mesh = "package://r2_description/meshes/Finger_Proximal.dae"

Definition at line 68 of file r2_helper.py.

tuple r2_helper::gaze_pose_pub = rospy.Publisher('r2_controller/gaze/pose_command', PoseStamped)

Definition at line 49 of file r2_helper.py.

string r2_helper::head_mesh = "package://r2_description/meshes/Head.dae"

Definition at line 73 of file r2_helper.py.

Definition at line 80 of file r2_helper.py.

tuple r2_helper::left_jnt_pub = rospy.Publisher('r2_controller/left_arm/joint_command', JointState)

Definition at line 52 of file r2_helper.py.

string r2_helper::left_palm_mesh = "package://r2_description/meshes/Left_Palm.dae"

Definition at line 58 of file r2_helper.py.

Definition at line 77 of file r2_helper.py.

tuple r2_helper::left_pose_pub = rospy.Publisher('r2_controller/left/pose_command', PoseStamped)

Definition at line 47 of file r2_helper.py.

string r2_helper::left_thumb_carp_mesh = "package://r2_description/meshes/Left_Thumb_Carp.dae"

Definition at line 59 of file r2_helper.py.

string r2_helper::left_thumb_carp_mtcar = "package://r2_description/meshes/Left_Thumb_MtCar.dae"

Definition at line 60 of file r2_helper.py.

list r2_helper::leftArmJointNames = ['/r2/left_arm/joint'+str(i) for i in range(7)]

Definition at line 190 of file r2_helper.py.

tuple r2_helper::leftCartReadyPose = PoseStamped()

Definition at line 165 of file r2_helper.py.

tuple r2_helper::leftHandClose = JointState()

Definition at line 240 of file r2_helper.py.

Definition at line 196 of file r2_helper.py.

tuple r2_helper::leftHandOpen = JointState()

Definition at line 252 of file r2_helper.py.

tuple r2_helper::leftHandPowerClose = JointState()

Definition at line 265 of file r2_helper.py.

tuple r2_helper::leftHandPowerCloseThumb = JointState()

Definition at line 278 of file r2_helper.py.

list r2_helper::leftIndexJointNames = ['/r2/left_arm/hand/index/joint'+str(i) for i in range(3)]

Definition at line 192 of file r2_helper.py.

Definition at line 197 of file r2_helper.py.

tuple r2_helper::leftJointReadyPose = JointState()

Definition at line 211 of file r2_helper.py.

list r2_helper::leftLittleJointNames = ['/r2/left_arm/hand/little/joint'+str(i) for i in range(1)]

Definition at line 195 of file r2_helper.py.

list r2_helper::leftMiddleJointNames = ['/r2/left_arm/hand/middle/joint'+str(i) for i in range(3)]

Definition at line 193 of file r2_helper.py.

list r2_helper::leftRingJointNames = ['/r2/left_arm/hand/ring/joint'+str(i) for i in range(1)]

Definition at line 194 of file r2_helper.py.

list r2_helper::leftThumbJointNames = ['/r2/left_arm/hand/thumb/joint' +str(i) for i in range(4)]

Definition at line 191 of file r2_helper.py.

tuple r2_helper::neck_jnt_pub = rospy.Publisher('r2_controller/neck/joint_command', JointState)

Definition at line 54 of file r2_helper.py.

list r2_helper::neckJointNames = ['/r2/neck/joint0', '/r2/neck/joint1', '/r2/neck/joint2']

Definition at line 208 of file r2_helper.py.

tuple r2_helper::neckJointReadyPose = JointState()

Definition at line 213 of file r2_helper.py.

tuple r2_helper::right_jnt_pub = rospy.Publisher('r2_controller/right_arm/joint_command', JointState)

Definition at line 53 of file r2_helper.py.

string r2_helper::right_palm_mesh = "package://r2_description/meshes/Right_Palm.dae"

Definition at line 62 of file r2_helper.py.

Definition at line 78 of file r2_helper.py.

tuple r2_helper::right_pose_pub = rospy.Publisher('r2_controller/right/pose_command', PoseStamped)

Definition at line 48 of file r2_helper.py.

string r2_helper::right_thumb_carp_mesh = "package://r2_description/meshes/Left_Thumb_Carp.dae"

Definition at line 63 of file r2_helper.py.

string r2_helper::right_thumb_carp_mtcar = "package://r2_description/meshes/Right_Thumb_MtCar.dae"

Definition at line 64 of file r2_helper.py.

list r2_helper::rightArmJointNames = ['/r2/right_arm/joint'+str(i) for i in range(7)]

Definition at line 199 of file r2_helper.py.

tuple r2_helper::rightCartReadyPose = PoseStamped()

Definition at line 177 of file r2_helper.py.

tuple r2_helper::rightHandClose = JointState()

Definition at line 246 of file r2_helper.py.

Definition at line 205 of file r2_helper.py.

tuple r2_helper::rightHandOpen = JointState()

Definition at line 258 of file r2_helper.py.

tuple r2_helper::rightHandPowerClose = JointState()

Definition at line 271 of file r2_helper.py.

Definition at line 284 of file r2_helper.py.

list r2_helper::rightIndexJointNames = ['/r2/right_arm/hand/index/joint'+str(i) for i in range(3)]

Definition at line 201 of file r2_helper.py.

Definition at line 206 of file r2_helper.py.

tuple r2_helper::rightJointReadyPose = JointState()

Definition at line 212 of file r2_helper.py.

list r2_helper::rightLittleJointNames = ['/r2/right_arm/hand/little/joint'+str(i) for i in range(1)]

Definition at line 204 of file r2_helper.py.

list r2_helper::rightMiddleJointNames = ['/r2/right_arm/hand/middle/joint'+str(i) for i in range(3)]

Definition at line 202 of file r2_helper.py.

list r2_helper::rightRingJointNames = ['/r2/right_arm/hand/ring/joint'+str(i) for i in range(1)]

Definition at line 203 of file r2_helper.py.

list r2_helper::rightThumbJointNames = ['/r2/right_arm/hand/thumb/joint'+str(i) for i in range(4)]

Definition at line 200 of file r2_helper.py.

string r2_helper::thumb_dist_mesh = "package://r2_description/meshes/Thumb_Dist.dae"

Definition at line 67 of file r2_helper.py.

string r2_helper::thumb_prox_mesh = "package://r2_description/meshes/Thumb_Proximal.dae"

Definition at line 66 of file r2_helper.py.

float r2_helper::TODEG = 1.0

Definition at line 44 of file r2_helper.py.

float r2_helper::TORAD = 180.0

Definition at line 43 of file r2_helper.py.

tuple r2_helper::waist_jnt_pub = rospy.Publisher('r2_controller/waist/joint_command', JointState)

Definition at line 55 of file r2_helper.py.

Definition at line 79 of file r2_helper.py.

list r2_helper::waistJointNames = ['/r2/waist/joint0']

Definition at line 209 of file r2_helper.py.

tuple r2_helper::waistJointReadyPose = JointState()

Definition at line 214 of file r2_helper.py.



r2_teleop
Author(s): Paul Dinh
autogenerated on Mon Oct 6 2014 02:43:06