ROS-based, Python interface class for WUT Velma Robot. More...

Classes
class	CoreCsDiag
	This class contains subsystem-specific diagnostic information for velma_core_cs. More...

class	CoreVeBodyDiag
	This class contains subsystem-specific diagnostic information for velma_core_cs. More...

class	Link
	This class contains information about single link of robot. More...

class	SubscribedTopic
	Class used for subscription for various ROS topics from the VelmaInterface class. More...

class	VisualMesh
	This class contains information about geometric object: mesh. More...

Public Member Functions
def	getLastJointState (self)
	Get the newest joint state. More...

def	getJointStateAtTime (self, time)
	Get interpolated joint state at a given time. More...

def	getHandCurrentConfiguration (self, prefix)
	Get current configuration of a specified hand. More...

def	getHandLeftCurrentConfiguration (self)
	Get current configuration of left hand. More...

def	getHandRightCurrentConfiguration (self)
	Get current configuration of right hand. More...

def	getHeadCurrentConfiguration (self)
	Get current configuration of neck. More...

def	waitForInit (self, timeout_s=None)
	Wait for the interface until it is initialized. More...

def	waitForJointState (self, abs_time)
	Wait for reception of joint state ROS msg with time stamp greater or equal abs_time. More...

def	getBodyJointLimits (self)
	Gets limits of joints of both arms and torso. More...

def	getCartImpJointLimits (self)
	Gets limits of joints of both arms and torso in cart_imp mode. More...

def	getHeadJointLimits (self)
	Gets limits of joints of neck. More...

def	dbgPrint (self, s)

def	__init__ (self, debug=False)
	Initialization of the interface. More...

def	getCoreVeDiag (self, timeout_s=None)
	Get diagnostic information for core VE. More...

def	getCoreCsDiag (self, timeout_s=None)
	Get diagnostic information for core CS. More...

def	allowHandsCollisions (self)
	Allow self-collisions of hands. More...

def	disallowHandsCollisions (self)
	Disallow self-collisions of hands. More...

def	getRawFTr (self)
	Gets right F/T sensor raw reading. More...

def	getRawFTl (self)
	Gets left F/T sensor raw reading. More...

def	getTransformedFTr (self)
	Gets right F/T sensor transformed reading. More...

def	getTransformedFTl (self)
	Gets left F/T sensor transformed reading. More...

def	getWristWrenchr (self)
	Gets estimated wrench for the right end effector. More...

def	getWristWrenchl (self)
	Gets estimated wrench for the left end effector. More...

def	getLeftWccPolygon (self)
	Get Polygon that defines wrist collision constraints for joints 5 and 6 of the left arm. More...

def	getRightWccPolygon (self)
	Get Polygon that defines wrist collision constraints for joints 5 and 6 of the right arm. More...

def	switchToRelaxBehavior (self)
	Switches the robot to relax behavior. More...

def	enableMotor (self, motor)
	Enable motor. More...

def	startHomingMotor (self, motor)
	Start homing procedure for specified motor. More...

def	waitForMotor (self, motor, timeout_s=0)
	Wait for an action for a motor to complete. More...

def	enableMotors (self, timeout=0)
	Enable all motors and wait. More...

def	startHomingHP (self)
	Start homing procedure for head pan motor. More...

def	startHomingHT (self)
	Start homing procedure for head tilt motor. More...

def	waitForHP (self, timeout_s=0)
	Wait for head pan motor. More...

def	waitForHT (self, timeout_s=0)
	Wait for head tilt motor. More...

def	waitForT (self, timeout_s=0)
	Wait for torso motor. More...

def	getCartImpMvTime (self, side, T_B_T, max_vel_lin, max_vel_rot, current_T_B_T=None)
	Calculate movement time for a given destination pose of end effector tool, given maximum allowed linear and rotational velocities. More...

def	moveCartImp (self, prefix, pose_list_T_B_Td, pose_times, tool_list_T_W_T, tool_times, imp_list, imp_times, max_wrench, start_time=0.01, stamp=None, damping=PyKDL.Wrench(PyKDL.Vector(0.35, 0.35, 0.35), PyKDL.Vector(0.35, 0.35, 0.35)), path_tol=None)
	Execute motion in cartesian impedance mode. More...

def	moveCartImpRight (self, pose_list_T_B_Td, pose_times, tool_list_T_W_T, tool_times, imp_list, imp_times, max_wrench, start_time=0.01, stamp=None, damping=PyKDL.Wrench(PyKDL.Vector(0.35, 0.35, 0.35), PyKDL.Vector(0.35, 0.35, 0.35)), path_tol=None)
	Execute motion in cartesian impedance mode for the right end-effector. More...

def	moveCartImpLeft (self, pose_list_T_B_Td, pose_times, tool_list_T_W_T, tool_times, imp_list, imp_times, max_wrench, start_time=0.01, stamp=None, damping=PyKDL.Wrench(PyKDL.Vector(0.35, 0.35, 0.35), PyKDL.Vector(0.35, 0.35, 0.35)), path_tol=None)
	Execute motion in cartesian impedance mode for the left end-effector. More...

def	moveCartImpCurrentPos (self, side, start_time=0.2, stamp=None)
	Move right end-effector to current position. More...

def	moveCartImpRightCurrentPos (self, start_time=0.2, stamp=None)
	Move right end-effector to current position. More...

def	moveCartImpLeftCurrentPos (self, start_time=0.2, stamp=None)
	Move left end-effector to current position. More...

def	waitForEffector (self, prefix, timeout_s=None)
	Wait for completion of end-effector motion in cartesian impedance mode. More...

def	waitForEffectorLeft (self, timeout_s=None)
	Wait for completion of left end-effector motion in cartesian impedance mode. More...

def	waitForEffectorRight (self, timeout_s=None)
	Wait for completion of right end-effector motion in cartesian impedance mode. More...

def	lookAt (self, point, frame_id='torso_base')
	Execute look at motion of head. More...

def	cancelLookAt (self)
	Cancel look at motion of head. More...

def	isLookAtConnected (self)
	Check if look at action is connected. More...

def	waitForLookAt (self, timeout_s=None)
	Wait for completion of look at motion. More...

def	maxJointTrajLen (self)
	Get maximum number of nodes in single joint trajectory. More...

def	maxHeadTrajLen (self)
	Get maximum number of nodes in single head trajectory. More...

def	moveJointTrajAndWait (self, traj, start_time=0.2, stamp=None, position_tol=5.0/180.0 math.pi, velocity_tol=5.0/180.0 math.pi)
	Execute joint space trajectory in joint impedance mode. More...

def	moveJointTraj (self, traj, start_time=0.2, stamp=None, position_tol=5.0/180.0 math.pi, velocity_tol=5.0/180.0 math.pi)
	Execute joint space trajectory in joint impedance mode. More...

def	calculateJointTrajTime (self, q_map_start, traj_in, max_vel)

def	getJntImpMovementTime (self, q_dest_map, max_vel)

def	getJntImpMovementTime2 (self, q_dest_map_1, q_dest_map_2, max_vel)

def	moveJoint (self, q_dest_map, time, max_vel=None, start_time=0.2, stamp=None, position_tol=5.0/180.0 math.pi, velocity_tol=5.0/180.0 math.pi)
	Execute simple joint space motion in joint impedance mode. More...

def	moveJointImpToCurrentPos (self, start_time=0.2, stamp=None)
	Switch core_cs to jnt_imp mode. More...

def	waitForJoint (self, timeout_s=None)
	Wait for joint space movement to complete. More...

def	moveHeadTraj (self, traj, start_time=0.2, stamp=None, position_tol=5.0/180.0 math.pi, velocity_tol=5.0/180.0 math.pi)
	Execute head trajectory in joint space. More...

def	moveHead (self, q_dest, time, max_vel=None, start_time=0.2, stamp=None, position_tol=5.0/180.0 math.pi, velocity_tol=5.0/180.0 math.pi)
	Execute simple head motion in joint space. More...

def	waitForHead (self, timeout_s=None)
	Wait for head movement to complete. More...

def	moveHand (self, prefix, q, v, t, maxPressure, hold=False)
	Executes hand motion with trapezoidal velocity profile. More...

def	moveHandLeft (self, q, v, t, maxPressure, hold=False)
	Executes motion with trapezoidal velocity profile for left hand. More...

def	moveHandRight (self, q, v, t, maxPressure, hold=False)
	Executes motion with trapezoidal velocity profile for right hand. More...

def	resetHand (self, prefix)
	Executes reset command for hand. More...

def	resetHandLeft (self)
	Executes reset command for left hand. More...

def	resetHandRight (self)
	Executes reset command for right hand. More...

def	waitForHand (self, prefix, timeout_s=None)
	Wait for completion of hand movement. More...

def	waitForHandLeft (self)
	Wait for completion of left hand movement. More...

def	waitForHandRight (self)
	Wait for completion of right hand movement. More...

def	getAllLinksTf (self, base_frame, time=None, timeout_s=1.0)
	Lookup transformations for all links. More...

def	getTf (self, frame_from, frame_to, time=None, timeout_s=1.0)
	Lookup tf transform and convert it to PyKDL.Frame. More...

def	setGraspedFlag (self, side, status)
	Inform control system about grasped object. More...

def	sendIdentificationMeasurementCommand (self, side, command_index)
	Make measurement for gravity compensation. More...

Static Public Member Functions
def	getJointGroup (group_name)
	Get names of all joints in group. More...

Detailed Description

ROS-based, Python interface class for WUT Velma Robot.

This class implements methods that use ROS topics, actions and services to communicate with velma_task_cs_ros_interface subsystem of velma_task agent.

Definition at line 185 of file velma_interface.py.

Constructor & Destructor Documentation

◆ init()

def velma_common.velma_interface.VelmaInterface.__init__	(	self,
		debug = `False`
	)

Initialization of the interface.

Definition at line 730 of file velma_interface.py.

Member Function Documentation

◆ allowHandsCollisions()

def velma_common.velma_interface.VelmaInterface.allowHandsCollisions ( self )

Allow self-collisions of hands.

Returns: None

Definition at line 1075 of file velma_interface.py.

◆ calculateJointTrajTime()

def velma_common.velma_interface.VelmaInterface.calculateJointTrajTime	(	self,
		q_map_start,
		traj_in,
		max_vel
	)

Definition at line 1647 of file velma_interface.py.

◆ cancelLookAt()

def velma_common.velma_interface.VelmaInterface.cancelLookAt ( self )

Cancel look at motion of head.

Returns: Returns True.

Definition at line 1500 of file velma_interface.py.

◆ dbgPrint()

def velma_common.velma_interface.VelmaInterface.dbgPrint	(	self,
		s
	)

Definition at line 725 of file velma_interface.py.

◆ disallowHandsCollisions()

def velma_common.velma_interface.VelmaInterface.disallowHandsCollisions ( self )

Disallow self-collisions of hands.

Returns: None

Definition at line 1085 of file velma_interface.py.

◆ enableMotor()

def velma_common.velma_interface.VelmaInterface.enableMotor	(	self,
		motor
	)

Enable motor.

Parameters

motor string: Name of motor to enable: 'hp', 'ht' or 't'

Exceptions

NameError Parameter motor has invalid value.

Definition at line 1179 of file velma_interface.py.

◆ enableMotors()

def velma_common.velma_interface.VelmaInterface.enableMotors	(	self,
		timeout = `0`
	)

Enable all motors and wait.

Parameters

timeout_s float: Timeout in seconds.

See also: enableMotor

Definition at line 1237 of file velma_interface.py.

◆ getAllLinksTf()

def velma_common.velma_interface.VelmaInterface.getAllLinksTf	(	self,
		base_frame,
		time = `None`,
		timeout_s = `1.0`
	)

Lookup transformations for all links.

Parameters

base_frame	string: name of base frame
time	rospy.Time: time at which transform should be interpolated
timeout_s	float: timeout in seconds

Returns: dictionary {string:PyKDL.Frame} Returns dictionary that maps link names to their poses wrt. the base frame.

Exceptions

tf2_ros.TransformException when the transform for the specified time is not avaible during the timeout_s.

Definition at line 1948 of file velma_interface.py.

◆ getBodyJointLimits()

def velma_common.velma_interface.VelmaInterface.getBodyJointLimits ( self )

Gets limits of joints of both arms and torso.

Joints of neck and grippers are not included. The joints are used in impedance control (both joint and cartesian).

Returns: dictionary: Returns a dictionary {name:(lower_limit, upper_limit)} that maps joint name to a 2-tupe with lower and upper joint limit.

Definition at line 553 of file velma_interface.py.

◆ getCartImpJointLimits()

def velma_common.velma_interface.VelmaInterface.getCartImpJointLimits ( self )

Gets limits of joints of both arms and torso in cart_imp mode.

Joints of neck and grippers are not included. The joints are used in impedance control (cart_imp mode).

Returns: dictionary: Returns a dictionary {name:(lower_limit, upper_limit, [lower_limit, upper_limit)])} that maps joint name to a 2-tupe or 4-tupe with lower and upper joint limit.

Definition at line 564 of file velma_interface.py.

◆ getCartImpMvTime()

def velma_common.velma_interface.VelmaInterface.getCartImpMvTime	(	self,
		side,
		T_B_T,
		max_vel_lin,
		max_vel_rot,
		current_T_B_T = `None`
	)

Calculate movement time for a given destination pose of end effector tool, given maximum allowed linear and rotational velocities.

Parameters

side	string: side: 'left' or 'right'.
T_B_T	PyKDL.Frame: destination pose.
max_vel_lin	float: maximum linear velocity.
max_vel_rot	float: maximum rotational velocity.
current_T_B_T	PyKDL.Frame: (optional) current pose. If ommited, the current pose from tf is considered.

Returns: Returns float: movement time in seconds.

Exceptions

AssertionError Raised when prefix is neither 'left' nor 'right'.

Definition at line 1304 of file velma_interface.py.

◆ getCoreCsDiag()

def velma_common.velma_interface.VelmaInterface.getCoreCsDiag	(	self,
		timeout_s = `None`
	)

Get diagnostic information for core CS.

Returns: Returns object of type VelmaInterface.CoreCsDiag, with diagnostic information about control subsystem.

Definition at line 1062 of file velma_interface.py.

◆ getCoreVeDiag()

def velma_common.velma_interface.VelmaInterface.getCoreVeDiag	(	self,
		timeout_s = `None`
	)

Get diagnostic information for core VE.

Returns: Returns object of type subsystem_common.SubsystemDiag, with diagnostic information about subsystem.

Definition at line 958 of file velma_interface.py.

◆ getHandCurrentConfiguration()

def velma_common.velma_interface.VelmaInterface.getHandCurrentConfiguration	(	self,
		prefix
	)

Get current configuration of a specified hand.

Parameters

prefix string: Hand name, can be one of two values ('left' or 'right').

Returns: An 8-tuple of positions of all joints of the specified hand, or None if there is no valid joint state data. The sequence of joint positions is: FingerOneKnuckleOneJoint, FingerOneKnuckleTwoJoint, FingerOneKnuckleThreeJoint, FingerTwoKnuckleOneJoint, FingerTwoKnuckleTwoJoint, FingerTwoKnuckleThreeJoint, FingerThreeKnuckleTwoJoint, FingerThreeKnuckleThreeJoint.

Exceptions

NameError If prefix is not 'left' or 'right'.

Definition at line 362 of file velma_interface.py.

◆ getHandLeftCurrentConfiguration()

def velma_common.velma_interface.VelmaInterface.getHandLeftCurrentConfiguration ( self )

Get current configuration of left hand.

Returns: tuple: An 8-tuple of positions of all joints of left hand, or None if there is no valid joint state data.

See also: getHandCurrentConfiguration

Definition at line 392 of file velma_interface.py.

◆ getHandRightCurrentConfiguration()

def velma_common.velma_interface.VelmaInterface.getHandRightCurrentConfiguration ( self )

Get current configuration of right hand.

Returns: tuple: An 8-tuple of positions of all joints of right hand, or None if there is no valid joint state data.

See also: getHandCurrentConfiguration

Definition at line 403 of file velma_interface.py.

◆ getHeadCurrentConfiguration()

def velma_common.velma_interface.VelmaInterface.getHeadCurrentConfiguration ( self )

Get current configuration of neck.

Returns: tuple: A 2-tuple of positions of neck joints, or None if there is no valid joint state data.

Definition at line 415 of file velma_interface.py.

◆ getHeadJointLimits()

def velma_common.velma_interface.VelmaInterface.getHeadJointLimits ( self )

Gets limits of joints of neck.

Returns: dictionary: Returns a dictionary {name:(lower_limit, upper_limit)} that maps joint name to a 2-tupe with lower and upper joint limit.

Definition at line 575 of file velma_interface.py.

◆ getJntImpMovementTime()

def velma_common.velma_interface.VelmaInterface.getJntImpMovementTime	(	self,
		q_dest_map,
		max_vel
	)

Definition at line 1673 of file velma_interface.py.

◆ getJntImpMovementTime2()

def velma_common.velma_interface.VelmaInterface.getJntImpMovementTime2	(	self,
		q_dest_map_1,
		q_dest_map_2,
		max_vel
	)

Definition at line 1677 of file velma_interface.py.

◆ getJointGroup()

def velma_common.velma_interface.VelmaInterface.getJointGroup ( group_name )

static

Get names of all joints in group.

Parameters

group_name string: name of group.

Returns: Returns list of names of joints in group.

Definition at line 1560 of file velma_interface.py.

◆ getJointStateAtTime()

def velma_common.velma_interface.VelmaInterface.getJointStateAtTime	(	self,
		time
	)

Get interpolated joint state at a given time.

Parameters

time	rospy.Time: Time of joint state to be computed.

Returns: dictionary: A dictionary (with key=joint_name, value=joint_position) of interpolated joint positions or None, if time is not within current joint state history.

Definition at line 321 of file velma_interface.py.

◆ getLastJointState()

def velma_common.velma_interface.VelmaInterface.getLastJointState ( self )

Get the newest joint state.

Returns: (rospy.Time, dictionary): A Pair of timestamp of the newest joint state and dictionary (with key=joint_name, value=joint_position), or None if there is no joint state data yet.

Definition at line 308 of file velma_interface.py.

◆ getLeftWccPolygon()

def velma_common.velma_interface.VelmaInterface.getLeftWccPolygon ( self )

Get Polygon that defines wrist collision constraints for joints 5 and 6 of the left arm.

Returns: list: Returns wrist collision constraint polygon as [x0, y0, x1, y1, x2, y2, ...].

Definition at line 1143 of file velma_interface.py.

◆ getRawFTl()

def velma_common.velma_interface.VelmaInterface.getRawFTl ( self )

Gets left F/T sensor raw reading.

Returns: PyKDL.Wrench: Returns KDL wrench.

Definition at line 1103 of file velma_interface.py.

◆ getRawFTr()

def velma_common.velma_interface.VelmaInterface.getRawFTr ( self )

Gets right F/T sensor raw reading.

Returns: PyKDL.Wrench: Returns KDL wrench.

Definition at line 1095 of file velma_interface.py.

◆ getRightWccPolygon()

def velma_common.velma_interface.VelmaInterface.getRightWccPolygon ( self )

Get Polygon that defines wrist collision constraints for joints 5 and 6 of the right arm.

Returns: list: Returns wrist collision constraint polygon as [x0, y0, x1, y1, x2, y2, ...].

Definition at line 1151 of file velma_interface.py.

◆ getTf()

def velma_common.velma_interface.VelmaInterface.getTf	(	self,
		frame_from,
		frame_to,
		time = `None`,
		timeout_s = `1.0`
	)

Lookup tf transform and convert it to PyKDL.Frame.

Frame names can be the full names or the following simplified names can be used:

'Wo' - world frame ('world')
'B' - robot base frame ('torso_base')
'Wr' - right wrist ('right_arm_7_link')
'Wl' - left wrist ('left_arm_7_link')
'Er' - same as 'Wr'
'El' - same as 'Wl'
'Gr' - right grip frame ('right_HandGripLink')
'Gl' - left grip frame ('left_HandGripLink')
'Pr' - right palm frame ('right_HandPalmLink')
'Pl' - left palm frame ('left_HandPalmLink')
'Tr' - right tool frame ('right_arm_tool')
'Tl' - left tool frame ('left_arm_tool')
'Fr00' - 'right_HandFingerOneKnuckleOneLink'
'Fr01' - 'right_HandFingerOneKnuckleTwoLink'
'Fr02' - 'right_HandFingerOneKnuckleThreeLink'
'Fr10' - 'right_HandFingerTwoKnuckleOneLink'
'Fr11' - 'right_HandFingerTwoKnuckleTwoLink'
'Fr12' - 'right_HandFingerTwoKnuckleThreeLink'
'Fr21' - 'right_HandFingerThreeKnuckleTwoLink'
'Fr22' - 'right_HandFingerThreeKnuckleThreeLink'
'Fl00' - 'left_HandFingerOneKnuckleOneLink'
'Fl01' - 'left_HandFingerOneKnuckleTwoLink'
'Fl02' - 'left_HandFingerOneKnuckleThreeLink'
'Fl10' - 'left_HandFingerTwoKnuckleOneLink'
'Fl11' - 'left_HandFingerTwoKnuckleTwoLink'
'Fl12' - 'left_HandFingerTwoKnuckleThreeLink'
'Fl21' - 'left_HandFingerThreeKnuckleTwoLink'
'Fl22' - 'left_HandFingerThreeKnuckleThreeLink'

Parameters

frame_from	string: simplified name of base frame
frame_to	string: simplified name of target frame
time	rospy.Time: time at which transform should be interpolated
timeout_s	float: timeout in seconds

Returns: PyKDL.Frame transformation from base frame to target frame.

Exceptions

tf2_ros.TransformException when the transform for the specified time is not avaible during the timeout_s.

Definition at line 1970 of file velma_interface.py.

◆ getTransformedFTl()

def velma_common.velma_interface.VelmaInterface.getTransformedFTl ( self )

Gets left F/T sensor transformed reading.

Returns: PyKDL.Wrench: Returns KDL wrench.

Definition at line 1119 of file velma_interface.py.

◆ getTransformedFTr()

def velma_common.velma_interface.VelmaInterface.getTransformedFTr ( self )

Gets right F/T sensor transformed reading.

Returns: PyKDL.Wrench: Returns KDL wrench.

Definition at line 1111 of file velma_interface.py.

◆ getWristWrenchl()

def velma_common.velma_interface.VelmaInterface.getWristWrenchl ( self )

Gets estimated wrench for the left end effector.

Returns: PyKDL.Wrench: Returns KDL wrench.

Definition at line 1135 of file velma_interface.py.

◆ getWristWrenchr()

def velma_common.velma_interface.VelmaInterface.getWristWrenchr ( self )

Gets estimated wrench for the right end effector.

Returns: PyKDL.Wrench: Returns KDL wrench.

Definition at line 1127 of file velma_interface.py.

◆ isLookAtConnected()

def velma_common.velma_interface.VelmaInterface.isLookAtConnected ( self )

Check if look at action is connected.

Returns: True if look at action is connected, False otherwise.

Definition at line 1510 of file velma_interface.py.

◆ lookAt()

def velma_common.velma_interface.VelmaInterface.lookAt	(	self,
		point,
		frame_id = `'torso_base'`
	)

Execute look at motion of head.

Returns: Returns True

Definition at line 1483 of file velma_interface.py.

◆ maxHeadTrajLen()

def velma_common.velma_interface.VelmaInterface.maxHeadTrajLen ( self )

Get maximum number of nodes in single head trajectory.

Returns: Maximum number of nodes.

Definition at line 1552 of file velma_interface.py.

◆ maxJointTrajLen()

def velma_common.velma_interface.VelmaInterface.maxJointTrajLen ( self )

Get maximum number of nodes in single joint trajectory.

Returns: Maximum number of nodes.

Definition at line 1545 of file velma_interface.py.

◆ moveCartImp()

def velma_common.velma_interface.VelmaInterface.moveCartImp	(	self,
		prefix,
		pose_list_T_B_Td,
		pose_times,
		tool_list_T_W_T,
		tool_times,
		imp_list,
		imp_times,
		max_wrench,
		start_time = `0.01`,
		stamp = `None`,
		damping = `PyKDL.Wrench(PyKDL.Vector(0.35, 0.35, 0.35),PyKDL.Vector(0.35, 0.35, 0.35))`,
		path_tol = `None`
	)

Execute motion in cartesian impedance mode.

Parameters

prefix	string: name of end-effector: 'left' or 'right'.
pose_list_T_B_Td	list of PyKDL.Frame: Poses of end-effector tool wrt. base frame. This is a path for the end-effector.
pose_times	list of float: Times of the poses in pose_list_T_B_Td wrt. start_time.
tool_list_T_W_T	list of PyKDL.Frame: Poses of tool frame wrt. wrist frame. This is a path for the tool of end-effector.
tool_times	list of float: Times of the tool poses in tool_list_T_W_T wrt. start_time.
imp_list	list of PyKDL.Wrench: Tool impedance values expressed in tool frame. This is a path for the impedance of end-effector.
imp_times	list of float: Times of the impedance values in imp_list wrt. start_time.
max_wrench	PyKDL.Wrench: Maximum allowed wrench during the motion expressed in tool frame.
start_time	float: Relative start time for the movement.
stamp	rospy.Time: Absolute start time for the movement. If both start_time and stamp arguments are set, only stamp is taken into account.
damping	PyKDL.Wrench: Damping for the tool expressed in tool frame.
path_tol	PyKDL.Twist: Maximum allowed error of tool pose expressed in the tool frame. Error of tool pose is a difference between desired tool equilibrium pose and measured tool pose.

Returns: Returns True.

Exceptions

AssertionError Raised when prefix is neither 'left' nor 'right'.

Definition at line 1334 of file velma_interface.py.

◆ moveCartImpCurrentPos()

def velma_common.velma_interface.VelmaInterface.moveCartImpCurrentPos	(	self,
		side,
		start_time = `0.2`,
		stamp = `None`
	)

Move right end-effector to current position.

Switch core_cs to cart_imp mode.

Returns: Returns True.

Definition at line 1416 of file velma_interface.py.

◆ moveCartImpLeft()

def velma_common.velma_interface.VelmaInterface.moveCartImpLeft	(	self,
		pose_list_T_B_Td,
		pose_times,
		tool_list_T_W_T,
		tool_times,
		imp_list,
		imp_times,
		max_wrench,
		start_time = `0.01`,
		stamp = `None`,
		damping = `PyKDL.Wrench(PyKDL.Vector(0.35, 0.35, 0.35),PyKDL.Vector(0.35, 0.35, 0.35))`,
		path_tol = `None`
	)

Execute motion in cartesian impedance mode for the left end-effector.

See also: moveCartImp

Definition at line 1409 of file velma_interface.py.

◆ moveCartImpLeftCurrentPos()

def velma_common.velma_interface.VelmaInterface.moveCartImpLeftCurrentPos	(	self,
		start_time = `0.2`,
		stamp = `None`
	)

Move left end-effector to current position.

Switch core_cs to cart_imp mode.

Returns: Returns True.

Definition at line 1430 of file velma_interface.py.

◆ moveCartImpRight()

def velma_common.velma_interface.VelmaInterface.moveCartImpRight	(	self,
		pose_list_T_B_Td,
		pose_times,
		tool_list_T_W_T,
		tool_times,
		imp_list,
		imp_times,
		max_wrench,
		start_time = `0.01`,
		stamp = `None`,
		damping = `PyKDL.Wrench(PyKDL.Vector(0.35, 0.35, 0.35),PyKDL.Vector(0.35, 0.35, 0.35))`,
		path_tol = `None`
	)

Execute motion in cartesian impedance mode for the right end-effector.

See also: moveCartImp

Definition at line 1402 of file velma_interface.py.

◆ moveCartImpRightCurrentPos()

def velma_common.velma_interface.VelmaInterface.moveCartImpRightCurrentPos	(	self,
		start_time = `0.2`,
		stamp = `None`
	)

Move right end-effector to current position.

Switch core_cs to cart_imp mode.

Returns: Returns True.

Definition at line 1423 of file velma_interface.py.

◆ moveHand()

def velma_common.velma_interface.VelmaInterface.moveHand	(	self,
		prefix,
		q,
		v,
		t,
		maxPressure,
		hold = `False`
	)

Executes hand motion with trapezoidal velocity profile.

Parameters

prefix	string: name of hand, either 'left' or 'right'
q	4-tuple of float: desired configuration for hand DOFs: [FingerOneKnuckleTwo, FingerTwoKnuckleTwo, FingerThreeKnuckleTwo, Spread]
v	4-tuple of float: maximum velocities
t	4-tuple of float: maximum current in motors
maxPressure	float: maximum pressure for tactile sensors
hold	bool: True if spread joint should hold its position after completion of motion

Exceptions

AssertionError when prefix is neither 'left' nor 'right'

Definition at line 1830 of file velma_interface.py.

◆ moveHandLeft()

def velma_common.velma_interface.VelmaInterface.moveHandLeft	(	self,
		q,
		v,
		t,
		maxPressure,
		hold = `False`
	)

Executes motion with trapezoidal velocity profile for left hand.

See also: moveHand

Definition at line 1855 of file velma_interface.py.

◆ moveHandRight()

def velma_common.velma_interface.VelmaInterface.moveHandRight	(	self,
		q,
		v,
		t,
		maxPressure,
		hold = `False`
	)

Executes motion with trapezoidal velocity profile for right hand.

See also: moveHand

Definition at line 1862 of file velma_interface.py.

◆ moveHead()

def velma_common.velma_interface.VelmaInterface.moveHead	(	self,
		q_dest,
		time,
		max_vel = `None`,
		start_time = `0.2`,
		stamp = `None`,
		position_tol = `5.0/180.0 * math.pi`,
		velocity_tol = `5.0/180.0*math.pi`
	)

Execute simple head motion in joint space.

Parameters

q_dest	2-tuple: goal configuration of head ('head_pan_joint', 'head_tilt_joint')
start_time	float: relative start time.
stamp	rospy.Time: absolute start time. float: position tolerance. float: velocity tolerance.

Returns: Returns True.

Exceptions

AssertionError When q_dest has wrong length.

Definition at line 1785 of file velma_interface.py.

◆ moveHeadTraj()

def velma_common.velma_interface.VelmaInterface.moveHeadTraj	(	self,
		traj,
		start_time = `0.2`,
		stamp = `None`,
		position_tol = `5.0/180.0 * math.pi`,
		velocity_tol = `5.0/180.0*math.pi`
	)

Execute head trajectory in joint space.

Parameters

traj	trajectory_msgs.msg.JointTrajectory: joint trajectory.
start_time	float: relative start time.
stamp	rospy.Time: absolute start time. float: position tolerance. float: velocity tolerance.

Returns: Returns True.

Exceptions

AssertionError Raised when trajectory has too many nodes or not all joints are included in trajectory.

Definition at line 1738 of file velma_interface.py.

◆ moveJoint()

def velma_common.velma_interface.VelmaInterface.moveJoint	(	self,
		q_dest_map,
		time,
		max_vel = `None`,
		start_time = `0.2`,
		stamp = `None`,
		position_tol = `5.0/180.0 * math.pi`,
		velocity_tol = `5.0/180.0*math.pi`
	)

Execute simple joint space motion in joint impedance mode.

Parameters

q_dest_map	dictionary: dictionary {name:position} of goal configuration
start_time	float: relative start time.
stamp	rospy.Time: absolute start time. float: position tolerance. float: velocity tolerance.

Returns: Returns True.

Definition at line 1686 of file velma_interface.py.

◆ moveJointImpToCurrentPos()

def velma_common.velma_interface.VelmaInterface.moveJointImpToCurrentPos	(	self,
		start_time = `0.2`,
		stamp = `None`
	)

Switch core_cs to jnt_imp mode.

Returns: Returns True.

Definition at line 1710 of file velma_interface.py.

◆ moveJointTraj()

def velma_common.velma_interface.VelmaInterface.moveJointTraj	(	self,
		traj,
		start_time = `0.2`,
		stamp = `None`,
		position_tol = `5.0/180.0 * math.pi`,
		velocity_tol = `5.0/180.0*math.pi`
	)

Execute joint space trajectory in joint impedance mode.

Trajectories of length up to 50 nodes are allowed. This method does not block the executing thread.

Parameters

traj	trajectory_msgs.msg.JointTrajectory: joint trajectory.
start_time	float: relative start time.
stamp	rospy.Time: absolute start time. float: position tolerance. float: velocity tolerance.

Returns: Returns True.

Exceptions

AssertionError Raised when trajectory has too many nodes.

Definition at line 1601 of file velma_interface.py.

◆ moveJointTrajAndWait()

def velma_common.velma_interface.VelmaInterface.moveJointTrajAndWait	(	self,
		traj,
		start_time = `0.2`,
		stamp = `None`,
		position_tol = `5.0/180.0 * math.pi`,
		velocity_tol = `5.0/180.0*math.pi`
	)

Execute joint space trajectory in joint impedance mode.

Trajectories of any length are allowed. This method blocks the executing thread until trajectory is completed, or error occures.

Parameters

traj	trajectory_msgs.msg.JointTrajectory: joint trajectory.
start_time	float: relative start time.
stamp	rospy.Time: absolute start time. float: position tolerance. float: velocity tolerance.

Returns: Returns True.

Definition at line 1568 of file velma_interface.py.

◆ resetHand()

def velma_common.velma_interface.VelmaInterface.resetHand	(	self,
		prefix
	)

Executes reset command for hand.

Parameters

prefix string: name of hand, either 'left' or 'right'

Exceptions

AssertionError when prefix is neither 'left' nor 'right'

Definition at line 1869 of file velma_interface.py.

◆ resetHandLeft()

def velma_common.velma_interface.VelmaInterface.resetHandLeft ( self )

Executes reset command for left hand.

See also: resetHand

Definition at line 1880 of file velma_interface.py.

◆ resetHandRight()

def velma_common.velma_interface.VelmaInterface.resetHandRight ( self )

Executes reset command for right hand.

See also: resetHand

Definition at line 1887 of file velma_interface.py.

◆ sendIdentificationMeasurementCommand()

def velma_common.velma_interface.VelmaInterface.sendIdentificationMeasurementCommand	(	self,
		side,
		command_index
	)

Make measurement for gravity compensation.

This identification action requires four measurements: two before and two after object is grasped.

Parameters

side	string: Hand name, can be one of two values ('left' or 'right').
command_index	int: measurement index - one of the following values: 1 - the first measurement before the object is grasped, 2 - the second measurement before the object is grasped, 3 - the first measurement after the object is grasped (in the same pose as for measurement 1), 4 - the second measurement after the object is grasped (in the same pose as for measurement 2).

Exceptions

NameError If side is not 'left' or 'right'.

Definition at line 2054 of file velma_interface.py.

◆ setGraspedFlag()

def velma_common.velma_interface.VelmaInterface.setGraspedFlag	(	self,
		side,
		status
	)

Inform control system about grasped object.

Parameters

side	string: Hand name, can be one of two values ('left' or 'right').
status	bool: True when object is grasped and gravity compensation is active, False otherwise.

Exceptions

NameError If side is not 'left' or 'right'.

Definition at line 2025 of file velma_interface.py.

◆ startHomingHP()

def velma_common.velma_interface.VelmaInterface.startHomingHP ( self )

Start homing procedure for head pan motor.

See also: startHomingMotor

Definition at line 1257 of file velma_interface.py.

◆ startHomingHT()

def velma_common.velma_interface.VelmaInterface.startHomingHT ( self )

Start homing procedure for head tilt motor.

See also: startHomingMotor

Definition at line 1265 of file velma_interface.py.

◆ startHomingMotor()

def velma_common.velma_interface.VelmaInterface.startHomingMotor	(	self,
		motor
	)

Start homing procedure for specified motor.

Parameters

motor string: Name of motor to enable: 'hp' or 'ht'

Exceptions

NameError Parameter motor has invalid value.

Definition at line 1193 of file velma_interface.py.

◆ switchToRelaxBehavior()

def velma_common.velma_interface.VelmaInterface.switchToRelaxBehavior ( self )

Switches the robot to relax behavior.

Definition at line 1171 of file velma_interface.py.

◆ waitForEffector()

def velma_common.velma_interface.VelmaInterface.waitForEffector	(	self,
		prefix,
		timeout_s = `None`
	)

Wait for completion of end-effector motion in cartesian impedance mode.

Parameters

prefix	string: name of end-effector: 'left' or 'right'.
timeout_s	float: timeout in seconds.

Returns: Returns error code.

Exceptions

AssertionError Raised when prefix is neither 'left' nor 'right'

Definition at line 1437 of file velma_interface.py.

◆ waitForEffectorLeft()

def velma_common.velma_interface.VelmaInterface.waitForEffectorLeft	(	self,
		timeout_s = `None`
	)

Wait for completion of left end-effector motion in cartesian impedance mode.

Parameters

timeout_s float: Timeout in seconds.

Returns: Returns error code.

Definition at line 1465 of file velma_interface.py.

◆ waitForEffectorRight()

def velma_common.velma_interface.VelmaInterface.waitForEffectorRight	(	self,
		timeout_s = `None`
	)

Wait for completion of right end-effector motion in cartesian impedance mode.

Parameters

timeout_s float: Timeout in seconds.

Returns: Returns error code.

Definition at line 1473 of file velma_interface.py.

◆ waitForHand()

def velma_common.velma_interface.VelmaInterface.waitForHand	(	self,
		prefix,
		timeout_s = `None`
	)

Wait for completion of hand movement.

Parameters

prefix string: name of hand, either 'left' or 'right'

Exceptions

AssertionError when prefix is neither 'left' nor 'right'

Definition at line 1894 of file velma_interface.py.

◆ waitForHandLeft()

def velma_common.velma_interface.VelmaInterface.waitForHandLeft ( self )

Wait for completion of left hand movement.

See also: waitForHand

Definition at line 1913 of file velma_interface.py.

◆ waitForHandRight()

def velma_common.velma_interface.VelmaInterface.waitForHandRight ( self )

Wait for completion of right hand movement.

See also: waitForHand

Definition at line 1920 of file velma_interface.py.

◆ waitForHead()

def velma_common.velma_interface.VelmaInterface.waitForHead	(	self,
		timeout_s = `None`
	)

Wait for head movement to complete.

Returns: Returns error code.

Definition at line 1812 of file velma_interface.py.

◆ waitForHP()

def velma_common.velma_interface.VelmaInterface.waitForHP	(	self,
		timeout_s = `0`
	)

Wait for head pan motor.

Parameters

timeout_s float: Timeout in seconds.

See also: waitForMotor

Definition at line 1274 of file velma_interface.py.

◆ waitForHT()

def velma_common.velma_interface.VelmaInterface.waitForHT	(	self,
		timeout_s = `0`
	)

Wait for head tilt motor.

Parameters

timeout_s float: Timeout in seconds.

See also: waitForMotor

Definition at line 1284 of file velma_interface.py.

◆ waitForInit()

def velma_common.velma_interface.VelmaInterface.waitForInit	(	self,
		timeout_s = `None`
	)

Wait for the interface until it is initialized.

Parameters

timeout_s float: Timeout in seconds.

Returns: True if the interface was succesfully initialized within timeout, False otherwise.

Definition at line 474 of file velma_interface.py.

◆ waitForJoint()

def velma_common.velma_interface.VelmaInterface.waitForJoint	(	self,
		timeout_s = `None`
	)

Wait for joint space movement to complete.

Returns: Returns error code.

Definition at line 1718 of file velma_interface.py.

◆ waitForJointState()

def velma_common.velma_interface.VelmaInterface.waitForJointState	(	self,
		abs_time
	)

Wait for reception of joint state ROS msg with time stamp greater or equal abs_time.

Parameters

abs_time rospy.Time: absolute time.

Returns: Returns True.

Definition at line 538 of file velma_interface.py.

◆ waitForLookAt()

def velma_common.velma_interface.VelmaInterface.waitForLookAt	(	self,
		timeout_s = `None`
	)

Wait for completion of look at motion.

Parameters

timeout_s float: timeout in seconds.

Returns: Returns error code.

Definition at line 1519 of file velma_interface.py.

◆ waitForMotor()

def velma_common.velma_interface.VelmaInterface.waitForMotor	(	self,
		motor,
		timeout_s = `0`
	)

Wait for an action for a motor to complete.

Parameters

motor	string: Name of motor to enable: 'hp', 'ht' or 't'
timeout_s	float: Timeout in seconds.

Returns: Returns error code or None if timed out.

Exceptions

NameError Parameter motor has invalid value.

Definition at line 1207 of file velma_interface.py.

◆ waitForT()

def velma_common.velma_interface.VelmaInterface.waitForT	(	self,
		timeout_s = `0`
	)

Wait for torso motor.

Parameters

timeout_s float: Timeout in seconds.

See also: waitForMotor

Definition at line 1294 of file velma_interface.py.

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

velma_system/velma_common/src/velma_common/velma_interface.py

Classes

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ allowHandsCollisions()

◆ calculateJointTrajTime()

◆ cancelLookAt()

◆ dbgPrint()

◆ disallowHandsCollisions()

◆ enableMotor()

◆ enableMotors()

◆ getAllLinksTf()

◆ getBodyJointLimits()

◆ getCartImpJointLimits()

◆ getCartImpMvTime()

◆ getCoreCsDiag()

◆ getCoreVeDiag()

◆ getHandCurrentConfiguration()

◆ getHandLeftCurrentConfiguration()

◆ getHandRightCurrentConfiguration()

◆ getHeadCurrentConfiguration()

◆ getHeadJointLimits()

◆ getJntImpMovementTime()

◆ getJntImpMovementTime2()

◆ getJointGroup()

◆ getJointStateAtTime()

◆ getLastJointState()

◆ getLeftWccPolygon()

◆ getRawFTl()

◆ getRawFTr()

◆ getRightWccPolygon()

◆ getTf()

◆ getTransformedFTl()

◆ getTransformedFTr()

◆ getWristWrenchl()

◆ getWristWrenchr()

◆ isLookAtConnected()

◆ lookAt()

◆ maxHeadTrajLen()

◆ maxJointTrajLen()

◆ moveCartImp()

◆ moveCartImpCurrentPos()

◆ moveCartImpLeft()

◆ moveCartImpLeftCurrentPos()

◆ moveCartImpRight()

◆ moveCartImpRightCurrentPos()

◆ moveHand()

◆ moveHandLeft()

◆ moveHandRight()

◆ moveHead()

◆ moveHeadTraj()

◆ moveJoint()

◆ moveJointImpToCurrentPos()

◆ moveJointTraj()

◆ moveJointTrajAndWait()

◆ resetHand()

◆ resetHandLeft()

◆ resetHandRight()

◆ sendIdentificationMeasurementCommand()

◆ setGraspedFlag()

◆ startHomingHP()

◆ startHomingHT()

◆ startHomingMotor()

◆ switchToRelaxBehavior()

◆ waitForEffector()

◆ waitForEffectorLeft()

◆ waitForEffectorRight()

◆ waitForHand()

◆ waitForHandLeft()

◆ waitForHandRight()

◆ waitForHead()

◆ waitForHP()

◆ waitForHT()

◆ waitForInit()

◆ waitForJoint()

◆ waitForJointState()

◆ waitForLookAt()

◆ init()