Skilled_PR2 Class Reference

Inheritance diagram for Skilled_PR2:

Public Member Functions
def	__init__
def	keep_reference
def	set_reference_arms
def	catch_the_board
def	catch_the_pen
def	prepare_to_write
def	show_the_people
def	calibrate_startpoint
def	calibrate_width
def	calibrate_height
def	get_ready
def	writing_posture
def	draw_shape
def	switch_arm
def	draw_from_canvas
Public Member Functions inherited from PyRide_PR2
def	__init__
	Class Constructor. More...
def	trunk_synced
def	body_synced
def	rarm_synced
	Use this function to check if the right arm of the object is synced with the right arm of the real robot. More...
def	larm_synced
	Use this function to check if the left arm of the object is synced with the left arm of the real robot. More...
def	say
	Use this function if you want the robot to say something. More...
def	synced
	Use this function to check if the robot is synchronized with the object. More...
def	sync_object
	Synchronizes the object with the robot and verifies the equity of forward kinematics for both the right and left arm endeffectors. More...
def	sync_body
	Synchronizes the position and orientation of the real robot body or robot in simulation with the object. More...
def	set_config_synced
def	sync_rarm
	Synchronizes the right arm of the real robot or robot in simulation with the right arm of the object. More...
def	sync_larm
	Synchronizes the left arm of the real robot or robot in simulation with the left arm of the object. More...
def	sync_robot
	Synchronizes the real robot or robot in simulation with the object. More...
def	rarm_target
	Solves the Inverse Kinematics for the right arm with given redundant parameter \( \phi \) and takes the right arm endeffector to the target specified by properties self.rarm.xd and self.rarm.Rd . More...
def	larm_target
	Solves the Inverse Kinematics for the left arm with given redundant parameter \( \phi \) and takes the right arm endeffector to the target specified by properties self.larm.xd and self.larm.Rd . More...
def	arm_target
	Solves the Inverse Kinematics for the reference arm with given redundant parameter \( \phi \) The instructions are exactly the same as functions self.rarm_target() and self.larm_target() More...
def	reach_target
def	reference_arm
def	arm_back
	Moves the reference arm wrist in backward direction maintaining the gripper orientation. More...
def	arm_forward
	Moves the reference arm wrist in forward direction maintaining the gripper orientation. More...
def	arm_down
	Moves the reference arm wrist in downward direction maintaining the gripper orientation. More...
def	arm_up
	Moves the reference arm wrist in upward direction maintaining the gripper orientation. More...
def	arm_right
	Moves the reference arm wrist to the right maintaining the gripper orientation. More...
def	arm_left
	Moves the reference arm wrist to the left maintaining the gripper orientation. More...
def	arm_left_down
	Moves the reference arm wrist to the left and downward direction maintaining the gripper orientation. More...
def	arm_left_up
	Moves the reference arm wrist to both left and upward directions maintaining the gripper orientation. More...
def	arm_right_up
def	arm_right_down
def	arm_arc
	Starting from the current wrist position , the arm wrist draws an arc around the given center with the given angle in the plane specified by the given normal vector. More...
def	arm_orient
	Changes the orientation of the reference arm gripper to a desired direction with out changing the wrist position. More...
def	front_line_tilt
def	front_line_base
def	arm_trajectory
	Runs a given arm task-space pose trajectory on the robot. More...
def	activate_kc
	Activates the Kinematic Control Service. More...
def	deactivate_kc
	Deactivates the Kinematic Control Service. More...
def	kc_service
def	arm_track

Public Attributes
	height
	width
	depth
	write_from_shape
	write_from_shape_complete
	timeout
	arm_speed
	larm_startpoint
	rarm_startpoint
	larm_endpoint_width
	rarm_endpoint_width
	larm_endpoint_height
	rarm_endpoint_height
	board_offset
	box_width_rarm
	box_height_rarm
	box_width_larm
	box_height_larm
	ref_config
	q
	larm_reference
	control_mode
Public Attributes inherited from PyRide_PR2
	r_arm_joint_names
	l_arm_joint_names
	max_wait_time
	A dictionary specifying the maximum waiting time when you choose to wait for any motion to finish. More...
	arm_speed
	A float specifying the speed of arm gripper in the operational space in m/sec. More...
	arm_max_speed
	base_laser_scan_range
	tilt_laser_scan_range
	larm_reference
	control_mode
	kc_service_cnt
	prev_qdot
	kc_gain
	kc_time
	t0
	prev_err
	kc_ptd
	kc_otd
	kc_pta
	kc_ota
	kc_jtd
	kc_jta

Detailed Description

Definition at line 40 of file skilled_pr2.py.

Constructor & Destructor Documentation

def __init__	(		self,
			run_magiks = False
	)

Definition at line 41 of file skilled_pr2.py.

Member Function Documentation

def calibrate_height

(

self

)

Definition at line 165 of file skilled_pr2.py.

def calibrate_startpoint

(

self

)

Definition at line 151 of file skilled_pr2.py.

def calibrate_width

(

self

)

Definition at line 158 of file skilled_pr2.py.

def catch_the_board

(

self

)

Definition at line 96 of file skilled_pr2.py.

def catch_the_pen

(

self

)

Definition at line 107 of file skilled_pr2.py.

def draw_from_canvas	(		self,
			canvas_shapes,
			width_pixels = 640,
			height_pixels = 480,
			plot = False,
			silent = True
	)

Definition at line 293 of file skilled_pr2.py.

def draw_shape	(		self,
			shape_trajectory
	)

Definition at line 267 of file skilled_pr2.py.

def get_ready	(		self,
			only_orientation = True,
			reverse = False
	)

Definition at line 172 of file skilled_pr2.py.

def keep_reference	(		self,
			q = None
	)

Sets the configuration given by q as the reference configuration
If q is not given, it reads the robot arm joints and sets them as reference configuration

Definition at line 73 of file skilled_pr2.py.

def prepare_to_write

(

self

)

Definition at line 115 of file skilled_pr2.py.

def set_reference_arms	(		self,
			ttr = 2.5
	)

Definition at line 86 of file skilled_pr2.py.

def show_the_people	(		self,
			return_back = True
	)

Definition at line 134 of file skilled_pr2.py.

def switch_arm

(

self

)

Definition at line 287 of file skilled_pr2.py.

def writing_posture

(

self

)

Definition at line 208 of file skilled_pr2.py.

Member Data Documentation

arm_speed

Definition at line 49 of file skilled_pr2.py.

board_offset

Definition at line 66 of file skilled_pr2.py.

box_height_larm

Definition at line 71 of file skilled_pr2.py.

box_height_rarm

Definition at line 69 of file skilled_pr2.py.

box_width_larm

Definition at line 70 of file skilled_pr2.py.

box_width_rarm

Definition at line 68 of file skilled_pr2.py.

control_mode

Definition at line 305 of file skilled_pr2.py.

depth

Definition at line 45 of file skilled_pr2.py.

height

Definition at line 43 of file skilled_pr2.py.

larm_endpoint_height

Definition at line 55 of file skilled_pr2.py.

larm_endpoint_width

Definition at line 53 of file skilled_pr2.py.

larm_reference

Definition at line 148 of file skilled_pr2.py.

larm_startpoint

Definition at line 51 of file skilled_pr2.py.

q

Definition at line 84 of file skilled_pr2.py.

rarm_endpoint_height

Definition at line 56 of file skilled_pr2.py.

rarm_endpoint_width

Definition at line 54 of file skilled_pr2.py.

rarm_startpoint

Definition at line 52 of file skilled_pr2.py.

ref_config

Definition at line 79 of file skilled_pr2.py.

timeout

Definition at line 48 of file skilled_pr2.py.

width

Definition at line 44 of file skilled_pr2.py.

write_from_shape

Definition at line 46 of file skilled_pr2.py.

write_from_shape_complete

Definition at line 47 of file skilled_pr2.py.

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

• skilled_pr2.py