niryo_libraries.niryo_robot_arm_commander.arm_commander.ArmCommander

class documentation

class ArmCommander:

Constructor: ArmCommander(arm_state)

View In Hierarchy

Object which set the arm goals to MoveIt

Method __init__ Undocumented
Method compute_and_execute_waypointed_trajectory Undocumented
Method compute_waypointed_trajectory Version 1 : Go to first pose using "classic" trajectory then compute cartesian path between all points Version 2 : Going to all poses one by one using "classical way" Version 3 : Generate all plans, merge them & smooth transitions...
Method display_traj Undocumented
Method draw_circle_trajectory Generate waypoints to draw a circle and generate a cartesian path with these waypoints Then execute the trajectory plan
Method draw_spiral_trajectory Generate waypoints to draw a spiral and generate a cartesian path with these waypoints Then execute the trajectory plan
Method execute_raw_waypointed_trajectory Undocumented
Method execute_waypointed_trajectory Undocumented
Method set_joint_target Set controller target to a joint target Then execute the trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message
Method set_linear_trajectory Set MoveIt target to a Pose target with RPY Then execute a Linear trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message...
Method set_pose_quat_from_pose Set MoveIt target to a Pose target with quaternion Then execute the trajectory to the target :param pose: Pose message containing target values :type : Pose :return: status, message
Method set_pose_quat_target Set MoveIt target to a Pose target with quaternion Then execute the trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message...
Method set_pose_target_from_cmd Set MoveIt target to a pose target with RPY Then execute the trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message
Method set_position_target Set MoveIt target to a position target Then execute the trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message
Method set_rpy_target Set MoveIt target to a rpy target Then execute the trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message
Method set_shift_linear_pose_target Set MoveIt target to a shifted target from actual position Then execute the cartesian trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message...
Method set_shift_pose_target Set MoveIt target to a shifted target from actual position Then execute the trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message...
Property jog_controller Undocumented
Property trajectories_executor Undocumented
Method __check_collision_in_joints_target Check if the joints target implies a self collision. Raise an exception is a collision is detected. :param joints: list of joints value
Method __compute_trajectory Hard try to to smooth Trajectories, not really working at the moment :param list_poses: list of Pose object :param dist_smoothing: smoothing distance :return: None
Method __link_plans_with_smoothing Link plans together with a smooth transition between each of them
Method __set_joint_target_moveit Set MoveIt target to a joint target Then execute the trajectory to the target :param joints: joints list :type : list[float] :return: status, message
Method __set_pose_target_moveit Undocumented
Method __validate_params_move Validate parameters according to command_type The function will raise an error if command is not valid :param command_type: :type command_type: ArmMoveCommand :param args: parameters :return: None
Instance Variable __arm Undocumented
Instance Variable __arm_state Undocumented
Instance Variable __end_effector_link Undocumented
Instance Variable __jog_controller Undocumented
Instance Variable __joints_name Undocumented
Instance Variable __kinematics_handler Undocumented
Instance Variable __parameters_validator Undocumented
Instance Variable __traj_executor Undocumented
Instance Variable __traj_manager Undocumented
Instance Variable __transform_handler Undocumented
def __init__(self, arm_state):

Undocumented

def compute_and_execute_waypointed_trajectory(self, arm_cmd):

Undocumented

def compute_waypointed_trajectory(self, arm_cmd):

Version 1 : Go to first pose using "classic" trajectory then compute cartesian path between all points Version 2 : Going to all poses one by one using "classical way" Version 3 : Generate all plans, merge them & smooth transitions

def display_traj(self, plan, id_=1):

Undocumented

def draw_circle_trajectory(self, arm_cmd):

Generate waypoints to draw a circle and generate a cartesian path with these waypoints Then execute the trajectory plan

:type : ArmMoveCommand :return: status, message

Parameters
arm_cmdArmMoveCommand message containing target values
def draw_spiral_trajectory(self, arm_cmd):

Generate waypoints to draw a spiral and generate a cartesian path with these waypoints Then execute the trajectory plan

:type : ArmMoveCommand :return: status, message

Parameters
arm_cmdArmMoveCommand message containing target values
def execute_raw_waypointed_trajectory(self, arm_cmd):

Undocumented

def execute_waypointed_trajectory(self, arm_cmd):

Undocumented

def set_joint_target(self, arm_cmd):

Set controller target to a joint target Then execute the trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message

def set_linear_trajectory(self, arm_cmd):

Set MoveIt target to a Pose target with RPY Then execute a Linear trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message

def set_pose_quat_from_pose(self, pose):

Set MoveIt target to a Pose target with quaternion Then execute the trajectory to the target :param pose: Pose message containing target values :type : Pose :return: status, message

def set_pose_quat_target(self, arm_cmd):

Set MoveIt target to a Pose target with quaternion Then execute the trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message

def set_pose_target_from_cmd(self, arm_cmd):

Set MoveIt target to a pose target with RPY Then execute the trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message

def set_position_target(self, arm_cmd):

Set MoveIt target to a position target Then execute the trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message

def set_rpy_target(self, arm_cmd):

Set MoveIt target to a rpy target Then execute the trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message

def set_shift_linear_pose_target(self, arm_cmd):

Set MoveIt target to a shifted target from actual position Then execute the cartesian trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message

def set_shift_pose_target(self, arm_cmd):

Set MoveIt target to a shifted target from actual position Then execute the trajectory to the target :param arm_cmd: ArmMoveCommand message containing target values :type : ArmMoveCommand :return: status, message

@property
jog_controller =

Undocumented

@property
trajectories_executor =

Undocumented

def __check_collision_in_joints_target(self, joints):

Check if the joints target implies a self collision. Raise an exception is a collision is detected. :param joints: list of joints value

def __compute_trajectory(self, list_poses, dist_smoothing=0.01):

Hard try to to smooth Trajectories, not really working at the moment :param list_poses: list of Pose object :param dist_smoothing: smoothing distance :return: None

def __link_plans_with_smoothing(self, dist_smoothing=0.0, *plans):

Link plans together with a smooth transition between each of them

def __set_joint_target_moveit(self, joints):

Set MoveIt target to a joint target Then execute the trajectory to the target :param joints: joints list :type : list[float] :return: status, message

def __set_pose_target_moveit(self, x, y, z, roll, pitch, yaw):

Undocumented

def __validate_params_move(self, command_type, *args):

Validate parameters according to command_type The function will raise an error if command is not valid :param command_type: :type command_type: ArmMoveCommand :param args: parameters :return: None

__arm =

Undocumented

__arm_state =

Undocumented

__end_effector_link =

Undocumented

__jog_controller =

Undocumented

__joints_name =

Undocumented

__kinematics_handler =

Undocumented

__parameters_validator =

Undocumented

__traj_executor =

Undocumented

__traj_manager =

Undocumented

__transform_handler =

Undocumented