This file contains ROS-based Python interface for WUT Velma Robot and some helper functions. More...

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

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

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

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

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

class	velma_common.velma_interface.VelmaInterface.CoreCsDiag
	This class contains subsystem-specific diagnostic information for velma_core_cs. More...

Namespaces
	velma_common.velma_interface

Functions
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. More...

def	velma_common.velma_interface.symmetricalConfiguration (q_map)
	Get configuration based on the input configuration such that all joint positions are symmetrical. More...

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. More...

def	velma_common.velma_interface.isHeadConfigurationClose (q1, q2, tolerance=0.1)
	Check if two configurations of robot neck are close within tolerance. More...

def	velma_common.velma_interface.isHandConfigurationClose (current_q, dest_q, tolerance=0.1)
	Check if two configurations of robot hand are close within tolerance. More...

def	velma_common.velma_interface.splitTrajectory (joint_trajectory, max_traj_len)
	Split a long trajectory into a number of shorter trajectories. More...

Detailed Description

This file contains ROS-based Python interface for WUT Velma Robot and some helper functions.

Definition in file velma_interface.py.

Classes