Package edu.tufts.hrilab.fetch

Class FetchItComponent

java.lang.Object

edu.tufts.hrilab.diarc.DiarcComponent

edu.tufts.hrilab.moveit.MoveItComponent

edu.tufts.hrilab.fetch.FetchComponent

edu.tufts.hrilab.fetch.FetchItComponent

All Implemented Interfaces:

FetchInterface, FetchItInterface, ArmInterface, LearningInterface, MoveItInterface

public class FetchItComponent
extends FetchComponent
implements FetchItInterface

This class contains hacks specific to the FetchIt! challenge, including: moving an object above a specific part of the caddy picking up the caddy with a specific orientation and z offset

Field Summary

Fields inherited from class edu.tufts.hrilab.moveit.MoveItComponent

configName, defaultConfigDir, eePoses, eeTransform, endEffectorNames, grippers, initStartPose, jointNames, jointStateSub, moveGroup, moveItConfig, poses, recordedTrajectories, recordingTrajectory, trajectoriesFile

Fields inherited from class edu.tufts.hrilab.diarc.DiarcComponent

executionLoopCycleTime, log, shouldRunExecutionLoop

Constructor Summary

Constructors

Constructor	Description
FetchItComponent()

Method Summary

Modifier and Type	Method	Description
protected MemoryObject	getMemoryObject(Symbol objectRef)
Justification	moveObjectAbove(Symbol objectRef_0, Symbol objectRef_1, String groupName)
Justification	moveTo(String groupName, Symbol refId, List<? extends Term> constraints)	[ Move arms(s) to pose defined by the refId and constrained by a set of constraints.

Methods inherited from class edu.tufts.hrilab.fetch.FetchComponent

additionalUsageInfo, checkGrasping, getBreakerState, getChargeLevel, init, look, lookAround, moveObject, moveTo, parseArgs, pointHeadTo, pointHeadTo, pointHeadTo, setBreakerState, setTorsoPosition

Methods inherited from class edu.tufts.hrilab.moveit.MoveItComponent

addCollisionObject, addLocalStaticTransforms, attachCollisionObject, attachCollisionObject, closeGripper, connectToMoveGroup, detachAllAttachedCollisionObjects, detachCollisionObject, detachCollisionObject, disableCarryingConstraints, disableCollisionAvoidance, enableCarryingConstraints, enableCollisionAvoidance, executeMotionPlanRequest, executeTrajectory, getEEPose, getGripperPosition, getPose, getPoses, getPoses, getRobotState, goToEEPose, goToPose, goToPose, goToStartPose, goToStartPose, graspObject, interrupt, isMoveGroupConnected, learn, loadEEPosesFromFile, loadPosesFromFile, loadTrajectoriesFromFile, moveGripper, moveGrippers, moveTo, moveTo, moveTo, moveTo, moveToApproach, moveToCartesian, moveToJointPosition, moveToJointPositions, moveToJointPositions, moveToRelative, notOneArm, openGripper, pointTo, pointTo, pour, pressObject, pressObject, publishPointCloudToRos, pushObject, reconnectToMoveGroup, recordEEPose, recordPose, releaseObject, removeAllCollisionObjects, removeCollisionObject, saveEEPosesToFile, savePosesToFile, saveTrajectoriesToFile, setObjectCollisions, startRecordingTrajectory, stopRecordingTrajectory, unlearn

Methods inherited from class edu.tufts.hrilab.diarc.DiarcComponent

createInstance, createInstance, createInstance, createInstance, executionLoop, getMyGroupConstraints, getMyGroups, getMyService, getMyServices, main, shutdown, shutdownComponent

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.tufts.hrilab.interfaces.ArmInterface

closeGripper, executeTrajectory, getEEPose, getGripperPosition, getPose, goToPose, goToPose, goToStartPose, graspObject, loadEEPosesFromFile, loadPosesFromFile, loadTrajectoriesFromFile, moveGripper, moveTo, moveTo, moveTo, moveToRelative, openGripper, pointTo, pressObject, pressObject, recordPose, releaseObject, saveEEPosesToFile, savePosesToFile, saveTrajectoriesToFile, startRecordingTrajectory, stopRecordingTrajectory

Methods inherited from interface edu.tufts.hrilab.fetch.FetchInterface

checkGrasping, getBreakerState, getChargeLevel, look, lookAround, moveObject, pointHeadTo, pointHeadTo, pointHeadTo, setBreakerState, setTorsoPosition

Methods inherited from interface edu.tufts.hrilab.interfaces.LearningInterface

learn, unlearn

Methods inherited from interface edu.tufts.hrilab.moveit.MoveItInterface

disableCarryingConstraints, enableCarryingConstraints, goToStartPose, moveToCartesian, moveToJointPosition, moveToJointPositions, moveToJointPositions, pointTo, publishPointCloudToRos

Constructor Details

FetchItComponent

public FetchItComponent()

Method Details

moveTo

public Justification moveTo(String groupName,
 Symbol refId,
 List<? extends Term> constraints)

Description copied from interface: ArmInterface

[ Move arms(s) to pose defined by the refId and constrained by a set of constraints. Assumes base_link coordinate frame. Note: gripper should already be open/closed before calling this method.

Specified by:

moveTo in interface ArmInterface

Overrides:

moveTo in class MoveItComponent

constraints - a list of predicate constraints

Returns:

true on success, false on failure. This function blocks.

moveObjectAbove

public Justification moveObjectAbove(Symbol objectRef_0,
 Symbol objectRef_1,
 String groupName)

Specified by:

moveObjectAbove in interface FetchItInterface

getMemoryObject

protected MemoryObject getMemoryObject(Symbol objectRef)