pyride_interpreter.py File Reference

Contains simplified functions to control PR2 using pyride engine. More...

Go to the source code of this file.

Namespaces
	magiks.specific_geometries.pr2.pyride_interpreter

Functions
def	on_move_arm_finished
	Callback function for arm reach: This function is called when the arm joints reach their target values Global variable larm_reached or rarm_reached will be switched to True depending on which arm is specified by argument is_left_arm. More...
def	on_move_arm_failed
	Callback function for arm reach failure: This function is called when the arm joints fail to reach their target values Global variable larm_failed or rarm_failed will be switched to True depending on which arm is specified by argument is_left_arm. More...
def	on_move_body_finished
def	on_move_body_failed
def	on_base_laser
def	on_tilt_laser
def	set_callback_functions
def	on_trajectory_received
def	gen_larm_joint_dict
	Use this function to convert a vector of left arm joint values, into a joint dictionary known by pyride. More...
def	gen_rarm_joint_dict
def	gen_rarm_joint_posvel_dict
def	gen_larm_joint_posvel_dict
def	gen_larm_joint_vel_dict
def	gen_rarm_joint_vel_dict
def	gen_rarm_joint_vector_from_dic
def	gen_larm_joint_vector_from_dic
def	larm_shoulder_pan_joint
def	rarm_shoulder_pan_joint
def	rarm_shoulder_lift_joint
def	larm_shoulder_lift_joint
def	larm_elbow_flex_joint
def	rarm_elbow_flex_joint
def	rarm_joints
def	larm_joints
def	larm_wrist_position
def	larm_wrist_orientation
def	rarm_wrist_orientation
def	rarm_wrist_position
def	rarm_elbow_position
def	larm_elbow_position
def	pos_rarm_grip_wrt_tor_shpan
def	pos_larm_grip_wrt_tor
def	pos_rarm_grip_wrt_tor
def	pos_larm_grip_wrt_tor_shpan
def	pos_rarm_grip
def	pos_larm_grip
def	body_position
def	body_angle
def	bl_midpoint
def	activate_trajectory_input
def	deactivate_trajectory_input
def	activate_base_laser
def	activate_tilt_laser
def	deactivate_base_laser
def	deactivate_tilt_laser
def	set_lg
def	set_rg
def	twist_forearm
def	twist_lg
def	twist_rg
def	look_lg
def	look_rg
def	take_rarm_to
def	take_larm_to
def	take_robot_to
def	rotate_robot_to
def	move_robot_to
def	finished
def	wait_until_finished
def	run_navigation_trajectory
def	run_config_trajectory
	Runs a given arm joint trajectory on the robot. More...
def	send_arm_joint_speed

Variables
	larm_reached = True
	A boolean global variable indicating if the left arm joints have reached their target. More...
	rarm_reached = True
	A boolean global variable indicating if the right arm joints have reached their target. More...
	body_reached = False
	A boolean global variable indicating if the body joints (non-arm joints) have reached their target. More...
	larm_failed = False
	A boolean global variable indicating if the left arm joints failed to reach their target. More...
	rarm_failed = False
	body_failed = False
int	counter = 0
int	bl_cnt = 0
	Counter for the base laser scan. More...
int	rt_cnt = 0
	Counter for the raw trajectory function calls. More...
	bl_dist = None
	bl_active = False
int	tl_cnt = 0
	tl_dist = None
	tl_active = False
	rt_orientation = None
tuple	rt_position = numpy.zeros(3)
tuple	rt_velocity = numpy.zeros(3)
tuple	rt_acceleration = numpy.zeros(3)
	rt_active = False

Detailed Description

Contains simplified functions to control PR2 using pyride engine.

Author

Nima Ramezani Taghiabadi

          PhD Researcher 
          Faculty of Engineering and Information Technology 
          University of Technology Sydney (UTS) 
          Broadway, Ultimo, NSW 2007, Australia 
          Phone No. :   04 5027 4611 
          Email(1)  : nima.ramezani@gmail.com 
          Email(2)  : Nima.RamezaniTaghiabadi@uts.edu.au 

Version

5.0

Last Revision: 13 May 2015

Definition in file pyride_interpreter.py.