Functions | |
def | setTargetPoseSequenceMoveIt |
def | setTargetPoseSequenceRTM |
Variables | |
tuple | circ_rpys = nxtpp.samePostureRPY([-3.073437, -1.569023, 3.073247], len(circ_xyzs)) |
tuple | circ_time = nxtpp.equalTimeList(10.0, len(circ_xyzs)) |
tuple | circ_xyzs = nxtpp.circularPositions(center=[0.35, 0.1, 0.1], radius=0.1 ,steps=12) |
string | limb_name = 'larm' |
tuple | play_pattern_arm = setTargetPoseSequenceMoveIt(limb_name, positions_arm, rpys_arm, time_list) |
play_pattern_time = time_list | |
list | positions_arm = [] |
tuple | rect_rpys = nxtpp.samePostureRPY([-3.073437, -1.569023, 3.073247], len(rect_xyzs)) |
tuple | rect_time = nxtpp.equalTimeList(10.0, len(rect_xyzs)) |
tuple | rect_xyzs = nxtpp.rectangularPositions(dp_a=[0.25, 0.0, 0.1], dp_b=[0.45, 0.2, 0.1]) |
tuple | robot = nextage_client.NextageClient() |
list | rpys_arm = [] |
list | time_list = [] |
def nextage_rtm_playpattern2.setTargetPoseSequenceMoveIt | ( | limb, | |
pos_list, | |||
rpy_list, | |||
tm_list | |||
) |
Create a array of limb joint angles for the each waypoints from data of the end effector postions and postures using MoveIt! IK for computing joint angles. @type limb : str @param limb : limb to create a pattern, right arm 'rarm' or left arm 'larm' @type pos_list : [[float,float,float],[float,float,float],...] @param pos_list : Array of end effector positions (x,y,z) [m] @type rpy_list : [[float,float,float],[float,float,float],...] @param rpy_list : Array of end effector postures (r,p,y) [m] @type tm_list : [float,float,...] @param tm_list : Array of motion time lengths of the each pose [s] @rtype : [[float,float,...],[float,float,...],...] @return : Array of limb joint angles [rad]
Definition at line 80 of file nextage_rtm_playpattern2.py.
def nextage_rtm_playpattern2.setTargetPoseSequenceRTM | ( | limb, | |
pos_list, | |||
rpy_list, | |||
tm_list | |||
) |
Create a array of limb joint angles for the each waypoints from data of the end effector postions and postures using robot moving using RTM interface. @type limb : str @param limb : limb to create a pattern, right arm 'rarm' or left arm 'larm' @type pos_list : [[float,float,float],[float,float,float],...] @param pos_list : Array of end effector positions (x,y,z) [m] @type rpy_list : [[float,float,float],[float,float,float],...] @param rpy_list : Array of end effector postures (r,p,y) [m] @type tm_list : [float,float,...] @param tm_list : Array of motion time lengths of the each pose [s] @rtype : [[float,float,...],[float,float,...],...] @return : Array of limb joint angles [rad]
Definition at line 49 of file nextage_rtm_playpattern2.py.
tuple nextage_rtm_playpattern2::circ_rpys = nxtpp.samePostureRPY([-3.073437, -1.569023, 3.073247], len(circ_xyzs)) |
Definition at line 155 of file nextage_rtm_playpattern2.py.
tuple nextage_rtm_playpattern2::circ_time = nxtpp.equalTimeList(10.0, len(circ_xyzs)) |
Definition at line 156 of file nextage_rtm_playpattern2.py.
tuple nextage_rtm_playpattern2::circ_xyzs = nxtpp.circularPositions(center=[0.35, 0.1, 0.1], radius=0.1 ,steps=12) |
Definition at line 154 of file nextage_rtm_playpattern2.py.
Definition at line 146 of file nextage_rtm_playpattern2.py.
tuple nextage_rtm_playpattern2::play_pattern_arm = setTargetPoseSequenceMoveIt(limb_name, positions_arm, rpys_arm, time_list) |
Definition at line 174 of file nextage_rtm_playpattern2.py.
Definition at line 175 of file nextage_rtm_playpattern2.py.
Definition at line 143 of file nextage_rtm_playpattern2.py.
tuple nextage_rtm_playpattern2::rect_rpys = nxtpp.samePostureRPY([-3.073437, -1.569023, 3.073247], len(rect_xyzs)) |
Definition at line 150 of file nextage_rtm_playpattern2.py.
tuple nextage_rtm_playpattern2::rect_time = nxtpp.equalTimeList(10.0, len(rect_xyzs)) |
Definition at line 151 of file nextage_rtm_playpattern2.py.
tuple nextage_rtm_playpattern2::rect_xyzs = nxtpp.rectangularPositions(dp_a=[0.25, 0.0, 0.1], dp_b=[0.45, 0.2, 0.1]) |
Definition at line 149 of file nextage_rtm_playpattern2.py.
tuple nextage_rtm_playpattern2::robot = nextage_client.NextageClient() |
Definition at line 136 of file nextage_rtm_playpattern2.py.
Definition at line 144 of file nextage_rtm_playpattern2.py.
Definition at line 145 of file nextage_rtm_playpattern2.py.