hironx_ros_bridge.hironx_client Namespace Reference

Classes
class	HIRONX
class	HrpsysConfigurator2

Functions
def	_get_geometry (self, method, frame_name=None)
	A method only inteded for class-internal usage. More...
def	delete_module (modname, paranoid=None)
def	getCurrentPose (self, lname=None, frame_name=None)
	Returns the current physical pose of the specified joint. More...
def	getReferencePose (self, lname=None, frame_name=None)
	Returns the current commanded pose of the specified joint. More...
def	setTargetPose (self, gname, pos, rpy, tm, frame_name=None)
	Move the end-effector to the given absolute pose. More...

Variables
string	_MSG_ASK_ISSUEREPORT = 'Your report to ' + \
string	_MSG_RESTART_QNX = 'You may want to restart QNX/ControllerBox afterward'
string	default_frame_name = 'WAIST'
	JUST FOR TEST, REMOVE WHEN YOU MERGE. More...
	SWITCH_OFF = OpenHRP.RobotHardwareService.SWITCH_OFF
	SWITCH_ON = OpenHRP.RobotHardwareService.SWITCH_ON

Function Documentation

_get_geometry()

def hironx_ros_bridge.hironx_client._get_geometry (   self,   method,   frame_name = None  )

private

A method only inteded for class-internal usage.

Since

: 315.12.1 or higher method: A Python function object.

Parameters

method	One of the following Python function objects defined in class HrpsysConfigurator: [getCurrentPose, getCurrentPosition, getCurrentReference, getCurrentRPY, getReferencePose, getReferencePosition, getReferenceReference, getReferenceRPY]
frame_name	str: set reference frame name (available from version 315.2.5) : {str: [float]}

Returns

: Dictionary of the values for each kinematic group. Example (using getCurrentPosition):

[{CHEST_JOINT0: [0.0, 0.0, 0.0]},
 {HEAD_JOINT1: [0.0, 0.0, 0.5694999999999999]},
 {RARM_JOINT5: [0.3255751238415409, -0.18236314012331808, 0.06762452267747099]},
 {LARM_JOINT5: [0.3255751238415409, 0.18236314012331808, 0.06762452267747099]}]

Definition at line 101 of file hironx_client.py.

delete_module()

def hironx_ros_bridge.hironx_client.delete_module	(		modname,
			paranoid = None
	)

Definition at line 69 of file hironx_client.py.

getCurrentPose()

def hironx_ros_bridge.hironx_client.getCurrentPose	(		self,
			lname = None,
			frame_name = None
	)

Returns the current physical pose of the specified joint.

cf. getReferencePose that returns commanded value.

eg.

     IN: robot.getCurrentPose('LARM_JOINT5')
     OUT: [-0.0017702356144599085,
      0.00019034630541264752,
      -0.9999984150158207,
      0.32556275164378523,
      0.00012155879975329215,
      0.9999999745367515,
       0.0001901314142046251,
       0.18236394191140365,
       0.9999984257434246,
       -0.00012122202968358842,
       -0.001770258707652326,
       0.07462472659364472,
       0.0,
       0.0,
       0.0,
       1.0]

lname: str

Parameters

lname	Name of the link.
frame_name	str: set reference frame name (from 315.2.5) : list of float

Returns

: Rotational matrix and the position of the given joint in 1-dimensional list, that is:

         [a11, a12, a13, x,
          a21, a22, a23, y,
          a31, a32, a33, z,
           0,   0,   0,  1]

Definition at line 138 of file hironx_client.py.

getReferencePose()

def hironx_ros_bridge.hironx_client.getReferencePose	(		self,
			lname = None,
			frame_name = None
	)

Returns the current commanded pose of the specified joint.

cf. getCurrentPose that returns physical pose.

lname: str

Parameters

lname	Name of the link.
frame_name	str: set reference frame name (from 315.2.5) : list of float

Returns

: Rotational matrix and the position of the given joint in 1-dimensional list, that is:

         [a11, a12, a13, x,
          a21, a22, a23, y,
          a31, a32, a33, z,
           0,   0,   0,  1]

Definition at line 200 of file hironx_client.py.

setTargetPose()

def hironx_ros_bridge.hironx_client.setTargetPose	(		self,
			gname,
			pos,
			rpy,
			tm,
			frame_name = None
	)

Move the end-effector to the given absolute pose.

All d* arguments are in meter.

Parameters

gname	str: Name of the joint group. Case-insensitive
pos	list of float: In meter.
rpy	list of float: In radian.
tm	float: Second to complete the command.
frame_name	str: Name of the frame that this particular command references to.

Returns

bool: False if unreachable.

Definition at line 234 of file hironx_client.py.

Variable Documentation

_MSG_ASK_ISSUEREPORT

string hironx_ros_bridge.hironx_client._MSG_ASK_ISSUEREPORT = 'Your report to ' + \

private

Definition at line 64 of file hironx_client.py.

_MSG_RESTART_QNX

string hironx_ros_bridge.hironx_client._MSG_RESTART_QNX = 'You may want to restart QNX/ControllerBox afterward'

private

Definition at line 67 of file hironx_client.py.

default_frame_name

string hironx_ros_bridge.hironx_client.default_frame_name = 'WAIST'

JUST FOR TEST, REMOVE WHEN YOU MERGE.

Definition at line 99 of file hironx_client.py.

SWITCH_OFF

hironx_ros_bridge.hironx_client.SWITCH_OFF = OpenHRP.RobotHardwareService.SWITCH_OFF

Definition at line 63 of file hironx_client.py.

SWITCH_ON

hironx_ros_bridge.hironx_client.SWITCH_ON = OpenHRP.RobotHardwareService.SWITCH_ON

Definition at line 62 of file hironx_client.py.