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() |
| def r2_helper.getJointCommand | ( | jd, | |
| name, | |||
| d | |||
| ) |
Definition at line 340 of file r2_helper.py.
| def r2_helper.makeLeftHandSetpointMarker | ( | msg | ) |
Definition at line 351 of file r2_helper.py.
| def r2_helper.makeRightHandSetpointMarker | ( | msg | ) |
Definition at line 358 of file r2_helper.py.
| def r2_helper.ParseTableScene | ( | ) |
Definition at line 151 of file r2_helper.py.
| def r2_helper.SegmentTableTop | ( | ) |
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.
| def r2_helper.SetArmToJointMode | ( | arm | ) |
Definition at line 100 of file r2_helper.py.
| def r2_helper.SetPower | ( | p | ) |
Definition at line 112 of file r2_helper.py.
| def r2_helper.SetUpMeshData | ( | ) |
Definition at line 292 of file r2_helper.py.
| string r2_helper::backpack_mesh = "package://r2_description/meshes/Backpack.dae" |
Definition at line 74 of file r2_helper.py.
| tuple r2_helper::backpack_mesh_pose = Pose() |
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.
| tuple r2_helper::head_mesh_pose = Pose() |
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.
| tuple r2_helper::left_palm_mesh_pose = Pose() |
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.
| r2_helper::leftHandNames = leftThumbJointNames+leftIndexJointNames+leftMiddleJointNames+leftRingJointNames+leftLittleJointNames |
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.
| tuple r2_helper::right_palm_mesh_pose = Pose() |
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.
| r2_helper::rightHandNames = rightThumbJointNames+rightIndexJointNames+rightMiddleJointNames+rightRingJointNames+rightLittleJointNames |
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.
| tuple r2_helper::rightHandPowerCloseThumb = JointState() |
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.
| tuple r2_helper::waist_mesh_pose = Pose() |
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.