velma_common.velma_interface Namespace Reference

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

Functions
def	getSymmetricalJointName (joint_name)
	For joint names that refer to joints that are symmetrical (left or right), get the name of the another joint. More...
def	symmetricalConfiguration (q_map)
	Get configuration based on the input configuration such that all joint positions are symmetrical. More...
def	isConfigurationClose (q_map1, q_map2, tolerance=0.1, allow_subset=False)
	Check if two configurations of robot body are close within tolerance. More...
def	isHeadConfigurationClose (q1, q2, tolerance=0.1)
	Check if two configurations of robot neck are close within tolerance. More...
def	isHandConfigurationClose (current_q, dest_q, tolerance=0.1)
	Check if two configurations of robot hand are close within tolerance. More...
def	splitTrajectory (joint_trajectory, max_traj_len)
	Split a long trajectory into a number of shorter trajectories. More...

Function Documentation

getSymmetricalJointName()

def velma_common.velma_interface.getSymmetricalJointName

(

joint_name

)

For joint names that refer to joints that are symmetrical (left or right), get the name of the another joint.

Parameters

joint_name

string: name of joint.

Returns

name of the joint symmetrical to joint_name, or None, if such does not exist.

Definition at line 64 of file velma_interface.py.

isConfigurationClose()

def velma_common.velma_interface.isConfigurationClose	(		q_map1,
			q_map2,
			tolerance = 0.1,
			allow_subset = False
	)

Check if two configurations of robot body are close within tolerance.

Parameters

q_map1	dictionary: Dictionary {name:position} that maps joint names to their positions.
q_map2	dictionary: Dictionary {name:position} that maps joint names to their positions.

Returns

True if two configurations are close within tolerance (for every joint), False otherwise.

Exceptions

KeyError

Either q_map1 or q_map2 dictionaries does not contain required key, i.e. one of robot body joint names.

Definition at line 97 of file velma_interface.py.

isHandConfigurationClose()

def velma_common.velma_interface.isHandConfigurationClose	(		current_q,
			dest_q,
			tolerance = 0.1
	)

Check if two configurations of robot hand are close within tolerance.

Parameters

current_q	tuple: 8-tuple of hand joints positions.
dest_q	tuple: 4-tuple of hand DOFs positions.

Returns

True if two configurations are close within tolerance (for every joint), False otherwise.

Definition at line 132 of file velma_interface.py.

isHeadConfigurationClose()

def velma_common.velma_interface.isHeadConfigurationClose	(		q1,
			q2,
			tolerance = 0.1
	)

Check if two configurations of robot neck are close within tolerance.

Parameters

q1	tuple: 2-tuple of neck joints positions.
q2	tuple: 2-tuple of neck joints positions.

Returns

True if two configurations are close within tolerance (for every joint), False otherwise.

Definition at line 121 of file velma_interface.py.

splitTrajectory()

def velma_common.velma_interface.splitTrajectory	(		joint_trajectory,
			max_traj_len
	)

Split a long trajectory into a number of shorter trajectories.

Parameters

joint_trajectory	trajectory_msgs.msg.JointTrajectory: A joint trajectory to be splitted.
max_traj_len	int: Maximum number of nodes in the result trajectory.

Returns

Returns list of trajectory_msgs.msg.JointTrajectory – the input trajectory split into a number of trajectories of length not greater than max_traj_len.

Definition at line 146 of file velma_interface.py.

symmetricalConfiguration()

def velma_common.velma_interface.symmetricalConfiguration

(

q_map

)

Get configuration based on the input configuration such that all joint positions are symmetrical.

Parameters

q_map

Dictionary: configuration {joint_name:joint_position}.

Returns

Dictionary with symmetrical configuration.

Definition at line 79 of file velma_interface.py.