sr_robot_commander.sr_arm_commander.SrArmCommander Class Reference

Inheritance diagram for sr_robot_commander.sr_arm_commander.SrArmCommander:

List of all members.

Public Member Functions
def	__init__
def	move_to_pose_target
def	move_to_position_target
def	plan_to_pose_target
def	plan_to_position_target
Private Member Functions
def	_set_ground

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Detailed Description

Commander class for arm

Definition at line 23 of file sr_arm_commander.py.

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Constructor & Destructor Documentation

def sr_robot_commander.sr_arm_commander.SrArmCommander.__init__	(		self,
			name = "right_arm",
			set_ground = True
	)

Initialize object
@param name - name of the MoveIt group
@param set_ground - sets the ground plane in moveit for planning

Definition at line 28 of file sr_arm_commander.py.

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Member Function Documentation

def sr_robot_commander.sr_arm_commander.SrArmCommander._set_ground

(

self

)

[private]

Sets a plane for the ground.

Definition at line 81 of file sr_arm_commander.py.

def sr_robot_commander.sr_arm_commander.SrArmCommander.move_to_pose_target	(		self,
			pose,
			end_effector_link = "",
			wait = True
	)

Specify a target pose for the end-effector and moves to it
@param pose - new pose of end-effector: a Pose message, a PoseStamped
message or a list of 6 floats: [x, y, z, rot_x, rot_y, rot_z]
or a list of 7 floats: [x, y, z, qx, qy, qz, qw]

@param end_effector_link - name of the end effector link
@param wait - should method wait for movement end or not

Definition at line 57 of file sr_arm_commander.py.

def sr_robot_commander.sr_arm_commander.SrArmCommander.move_to_position_target	(		self,
			xyz,
			end_effector_link = "",
			wait = True
	)

Specify a target position for the end-effector and moves to it.
@param xyz - new position of end-effector
@param end_effector_link - name of the end effector link
@param wait - should method wait for movement end or not

Definition at line 39 of file sr_arm_commander.py.

def sr_robot_commander.sr_arm_commander.SrArmCommander.plan_to_pose_target	(		self,
			pose,
			end_effector_link = ""
	)

Specify a target pose for the end-effector and plans.
This is a blocking method.
@param pose - new pose of end-effector: a Pose message, PoseStamped
message or a list of 6 floats: [x, y, z, rot_x, rot_y, rot_z]
or a list of 7 floats [x, y, z, qx, qy, qz, qw]

@param end_effector_link - name of the end effector link

Definition at line 69 of file sr_arm_commander.py.

def sr_robot_commander.sr_arm_commander.SrArmCommander.plan_to_position_target	(		self,
			xyz,
			end_effector_link = ""
	)

Specify a target position for the end-effector and plans.
This is a blocking method.
@param xyz - new position of end-effector
@param end_effector_link - name of the end effector link

Definition at line 48 of file sr_arm_commander.py.

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The documentation for this class was generated from the following file:

• sr_arm_commander.py