Public Member Functions
def	__init__
def	approach_location
def	approach_perpendicular_to_surface
	Drive so that we are perpendicular to a wall at point_bl (radii voi_radius) stop at dist_approach.
def	balance_positives_and_negatives
def	camera_change_detect
def	click_cb
def	close_gripper
def	create_arm_poses
def	draw_dots_nstuff
def	drawer
def	drawer_push
def	drive_approach_behavior
	Drive using within a dist_far distance of point_bl.
def	driving_posture
def	execute_behavior
	TODO: test this.
def	get_behavior_by_task
def	light_rocker_push
def	light_switch1
def	location_approach_driving
def	look_at
def	manipulation_posture
def	move_base_planner
def	open_gripper
def	practice
	The behavior can make service calls to a GUI asking users to label.
def	profile_me
def	read_features_save
def	record_perceptual_data
def	run
def	scenario_practice_run_mode
	Practice phase.
def	scenario_user_clicked_at_location
	Initialization phase.
def	scenario_user_select_location
	Execution phase.
def	seed_dataset_explore
	TODO: GASP!! WE MIGHT NOT NEED THIS AFTER ALL, JUST INITIALIZE RANDOMLY!
def	stationary_light_switch_behavior
def	tuck
def	turn_to_point
def	unreliable_locs
def	untuck
def	update_base
Public Attributes
	behaviors
	critical_error
	feature_ex
	folded_pose
	l0
	l1
	l2
	laser_listener
	laser_scan
	learners
	left_tucked
	locations_man
	OPTICAL_FRAME
	prosilica
	prosilica_cal
	r0
	rec_params
	right_tucked
	robot
	start_location_drawer
	start_location_light_switch
	tf_listener
	wide_angle_camera_left
	wide_angle_configure

Detailed Description

Definition at line 622 of file linear_move.py.

Constructor & Destructor Documentation

def hai_sandbox.linear_move.ApplicationBehaviors.__init__ ( self )

Definition at line 624 of file linear_move.py.

Member Function Documentation

def hai_sandbox.linear_move.ApplicationBehaviors.approach_location	(	self,
		point_bl,
		coarse_stop,
		fine_stop,
		voi_radius = `.2`
	)

Definition at line 1178 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.approach_perpendicular_to_surface	(	self,
		point_bl,
		voi_radius,
		dist_approach
	)

Drive so that we are perpendicular to a wall at point_bl (radii voi_radius) stop at dist_approach.

Definition at line 1129 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.balance_positives_and_negatives	(	self,
		dataset
	)

Definition at line 2466 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.camera_change_detect	(	self,
		threshold,
		f,
		args
	)

Definition at line 744 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.click_cb	(	self,
		point_bl
	)

Definition at line 1935 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.close_gripper ( self )

Definition at line 783 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.create_arm_poses ( self )

Definition at line 692 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.draw_dots_nstuff	(	self,
		img,
		points2d,
		labels,
		picked_loc
	)

Definition at line 671 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.drawer	(	self,
		point
	)

Definition at line 996 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.drawer_push	(	self,
		point_bl
	)

Definition at line 914 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.drive_approach_behavior	(	self,
		point_bl,
		dist_far
	)

Drive using within a dist_far distance of point_bl.

Definition at line 1106 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.driving_posture	(	self,
		task_type
	)

Definition at line 1484 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.execute_behavior	(	self,
		task_id,
		point3d_bl,
		save,
		max_retries = `15`,
		closeness_tolerance = `.01`,
		user_study = `False`
	)

TODO: test this.

Definition at line 2686 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.get_behavior_by_task	(	self,
		task_type
	)

Definition at line 1404 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.light_rocker_push	(	self,
		point,
		pressure,
		visual_change_thres,
		offset
	)

Definition at line 876 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.light_switch1	(	self,
		point,
		point_offset,
		press_contact_pressure,
		press_pressure,
		press_distance,
		visual_change_thres
	)

Definition at line 793 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.location_approach_driving	(	self,
		task,
		point_bl
	)

Definition at line 1372 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.look_at	(	self,
		point_bl,
		block = `True`
	)

Definition at line 1508 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.manipulation_posture	(	self,
		task_type
	)

Definition at line 1446 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.move_base_planner	(	self,
		trans,
		rot
	)

Definition at line 1689 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.open_gripper ( self )

Definition at line 788 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.practice	(	self,
		task_id,
		ctask_id,
		point3d_bl,
		stop_fun = `None`,
		params = `None`,
		negative_cut_off = `.5`,
		resolution = `.01`,
		max_samples = `5`
	)

The behavior can make service calls to a GUI asking users to label.

Definition at line 2228 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.profile_me	(	self,
		task_id,
		point_bl
	)

Definition at line 2478 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.read_features_save	(	self,
		task_id,
		point3d_bl,
		params = `None`
	)

Definition at line 2662 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.record_perceptual_data	(	self,
		point3d_bl,
		image_frame,
		rdict = `None`,
		folder_name = `None`
	)

Definition at line 2144 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.run	(	self,
		mode,
		save,
		user_study
	)

Definition at line 2061 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.scenario_practice_run_mode ( self )

Practice phase.

Definition at line 1715 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.scenario_user_clicked_at_location	(	self,
		point_bl
	)

Initialization phase.

Parameters:

point_bl 3x1 in base_link

Definition at line 1522 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.scenario_user_select_location	(	self,
		save,
		user_study
	)

Execution phase.

Definition at line 1874 of file linear_move.py.

def hai_sandbox.linear_move.ApplicationBehaviors.seed_dataset_explore	(	self,
		task_id,
		ctask_id,
		point_bl,
		stop_fun,
		max_retries = `30`,
		closeness_tolerance = `.01`,
		positive_escape = `.08`,
		should_reset = `False`
	)