Defines behaviour for ArmTrajectory primitive. This is for primitives where the arm moves to a series of poses.
Definition at line 93 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.__init__ | ( | self, | |
robot, | |||
tf_listener, | |||
im_server, | |||
number = None |
|||
) |
Args: robot (Robot) : interface to lower level robot functionality tf_listener (TransformListener) im_server (InteractiveMarkerSerever) number (int, optional): The number of this primitive in the action sequence
Definition at line 100 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._add_6dof_marker | ( | self, | |
int_marker, | |||
is_fixed | |||
) | [private] |
Adds a 6 DoF control marker to the interactive marker. Args: int_marker (InteractiveMarker) is_fixed (bool): Looks like whether position is fixed (?). Currently only passed as True.
Definition at line 974 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._convert_ref_frame | ( | self, | |
arm_state | |||
) | [private] |
Convert arm_state to be in a different reference frame Args: arm_state (ArmState) new_landmark (Landmark) Returns: ArmState
Definition at line 824 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._delete_primitive_cb | ( | self, | |
feedback | |||
) | [private] |
Callback for when delete is requested. Args: feedback (InteractiveMarkerFeedback): Unused
Definition at line 1051 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_arm_state_from_json | ( | json | ) | [static, private] |
Return ArmState msg from json Args: json (dict) Returns: ArmState
Definition at line 645 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_json_from_arm_state | ( | arm_state | ) | [static, private] |
Return json containing data of arm_state Args: arm_state (ArmState) Returns: json (dict)
Definition at line 569 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_json_from_landmark | ( | landmark | ) | [static, private] |
Return json containing data of landmark Args: landmark (Landmark) Returns: json (dict)
Definition at line 625 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_json_from_pose | ( | pose | ) | [static, private] |
Return json containing data of pose Args: pose (Pose) Returns: json (dict)
Definition at line 602 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_json_from_pose_stamped | ( | pose_stamped | ) | [static, private] |
Return json containing data of pose_stamped Args: pose_stamped (PoseStamped) Returns: json (dict)
Definition at line 587 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_landmark_from_json | ( | json | ) | [static, private] |
Return Landmark msg from json Args: json (dict) Returns: Landmark
Definition at line 663 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_marker_pose | ( | self | ) | [private] |
Returns the pose of the primitive. Returns: Pose
Definition at line 841 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_matrix_from_pose | ( | pose | ) | [static, private] |
Returns the transformation matrix for given pose. Args: pose (PoseStamped) Returns: Matrix3x3
Definition at line 749 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_pose_from_json | ( | json | ) | [static, private] |
Return Pose msg from json Args: json (dict) Returns: Pose
Definition at line 704 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_pose_from_transform | ( | transform | ) | [static, private] |
Returns pose for transformation matrix. Args: transform (Matrix3x3): (I think this is the correct type. See ArmTrajectory as a reference for how to use.) Returns: Pose
Definition at line 766 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_pose_stamped_from_json | ( | json | ) | [static, private] |
Return PoseStamped msg from json Args: json (dict) Returns: PoseStamped
Definition at line 688 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._get_traj_pose | ( | self, | |
index | |||
) | [private] |
Returns this trajectory's pose at index. Args: index (int): Which step in the trajectory to return the pose from. Returns: Pose
Definition at line 1059 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._make_6dof_control | ( | self, | |
name, | |||
orientation, | |||
is_move, | |||
is_fixed | |||
) | [private] |
Creates and returns one component of the 6dof controller. Args: name (str): Name for hte control orientation (Quaternion): How the control should be oriented. is_move (bool): Looks like whether the marker moves the object (?). Currently passed as True for moving markers, False for rotating ones. is_fixed (bool): Looks like whether position is fixed (?). Currently always passed as True. Returns: InteractiveMarkerControl
Definition at line 996 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._make_sphere_marker | ( | self, | |
uid, | |||
pose, | |||
frame_id, | |||
radius | |||
) | [private] |
Creates and returns a sphere marker. Args: uid (int): The id to use for the marker. pose (Pose): The pose of the marker. frame_id (str): Frame the marker is associated with. (See std_msgs/Header.msg for more info.) radius (float): Amount to scale the marker by. Scales in all directions (x, y, and z). Returns: Marker
Definition at line 1027 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._marker_feedback_cb | ( | self, | |
feedback | |||
) | [private] |
Callback for when an event occurs on the marker. Args: feedback (InteractiveMarkerFeedback)
Definition at line 1087 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._offset_pose | ( | pose, | |
constant = 1 |
|||
) | [static, private] |
Offsets the world pose for visualization. Args: pose (PoseStamped): The pose to offset. constant (int, optional): How much to scale the set offset by (scales ArmTrajectory._offset). Defaults to 1. Returns: PoseStamped: The offset pose.
Definition at line 726 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._update_menu | ( | self | ) | [private] |
Recreates the menu when something has changed.
Definition at line 787 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory._update_viz_core | ( | self | ) | [private] |
Updates visualization after a change.
Definition at line 863 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.add_marker_callbacks | ( | self, | |
click_cb, | |||
delete_cb, | |||
pose_change_cb, | |||
action_change_cb | |||
) |
Adds marker to world
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 214 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.add_step | ( | self, | |
arm_state, | |||
gripper_state | |||
) |
Add step to trajectory Args: arm_state (ArmState) gripper_state (GripperState.OPEN|GripperState.CLOSED)
Definition at line 495 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.build_from_json | ( | self, | |
json | |||
) |
Fills out ArmTrajectory using json from db
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 174 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.change_ref_frame | ( | self, | |
ref_type, | |||
landmark | |||
) |
Sets new reference frame for primitive Args:
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 264 of file arm_trajectory.py.
Currently just a placeholder Meant to return conditions that need to be met after a primitive is executed in order for execution to be a success. This could be something like "object must be 0.1m above surface" Returns: None
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 203 of file arm_trajectory.py.
Currently just a placeholder Meant to return conditions that need to be met before a primitive can be executed. This could be something like "There should only be one object" or something. Returns: None
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 192 of file arm_trajectory.py.
Reduces the number of the primitive.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 490 of file arm_trajectory.py.
Execute this primitive Returns bool : Success of execution
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 359 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.get_absolute_marker_pose | ( | self, | |
use_final = True |
|||
) |
Returns the absolute pose of the primitive marker. Args: use_final (bool, optional). For trajectories only. Whether to get the final pose in the trajectory. Defaults to True. Returns: PoseStamped
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 447 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.get_absolute_marker_position | ( | self, | |
use_final = True |
|||
) |
Returns the absolute position of the primitive marker. Args: use_final (bool, optional). For trajectories only. Whether to get the final position in the trajectory. Defaults to True. Returns: Point
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 473 of file arm_trajectory.py.
Returns the absolute pose of the primitive. Args: None Returns: PoseStamped
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 422 of file arm_trajectory.py.
Returns json representation of primitive
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 151 of file arm_trajectory.py.
Returns the display name for the primitive. Returns: str: A human-readable unique name for the primitive.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 524 of file arm_trajectory.py.
Returns number of primitive Returns: int
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 532 of file arm_trajectory.py.
Returns what number this primitive is in the sequence
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 339 of file arm_trajectory.py.
Returns the name string for the reference frame object of the primitive. Returns: str|None: Under all normal circumstances, returns the str reference frame name. Returns None in error.
Definition at line 272 of file arm_trajectory.py.
Return reference type of primitive Returns: ArmState.ROBOT_BASE, etc
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 556 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.get_relative_pose | ( | self, | |
use_final = True |
|||
) |
Returns the absolute pose of the primitive. Args: use_final (bool, optional). Whether to get the final pose in the trajectory. Defaults to True. Returns: PoseStamped
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 409 of file arm_trajectory.py.
Return true if head busy Returns: bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 394 of file arm_trajectory.py.
Removes marker from the world.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 239 of file arm_trajectory.py.
Check if the marker control is visible Returns bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 308 of file arm_trajectory.py.
Check if this primitive requires an object to be present Returns: bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 351 of file arm_trajectory.py.
Check if robot can physically reach all steps in trajectory
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 402 of file arm_trajectory.py.
Return whether or not primitive is selected Returns bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 300 of file arm_trajectory.py.
Return whether or not marker is visible Returns: bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 247 of file arm_trajectory.py.
Return whether pose of primitive is editable Returns: bool : False
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 548 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.select | ( | self, | |
is_selected | |||
) |
Set whether primitive is selected or not Args: is_selected (bool)
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 283 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.set_control_visible | ( | self, | |
visible = True |
|||
) |
Set visibility of marker controls Args: visible (bool, optional)
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 316 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.set_name | ( | self, | |
name | |||
) |
Sets the display name for the primitive. Args: name (str) : A human-readable unique name for the primitive.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 516 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.set_pose | ( | self, | |
pose | |||
) |
CHanging pose of trajectory is currently not supported Args: pose (PoseStamped) : Unused
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 540 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.set_primitive_number | ( | self, | |
num | |||
) |
Sets what number this primitive is in the sequence Args: num (int)
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 343 of file arm_trajectory.py.
Adds marker for primitive
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 225 of file arm_trajectory.py.
Updates and re-assigns coordinate frames when the world changes.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 255 of file arm_trajectory.py.
def fetch_pbd_interaction.arm_trajectory.ArmTrajectory.update_viz | ( | self, | |
check_reachable = True |
|||
) |
Updates visualization fully. Args: check_reachable (bool) : Unused
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Definition at line 324 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
fetch_pbd_interaction::arm_trajectory.ArmTrajectory::_offset = DEFAULT_OFFSET [static, private] |
Definition at line 98 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 287 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.
Definition at line 107 of file arm_trajectory.py.