Package edu.tufts.hrilab.interfaces

Interface ArmInterface

All Known Subinterfaces:
FetchInterface, FetchItInterface, MockArmInterface, MoveItInterface, PR2Interface
All Known Implementing Classes:
FetchComponent, FetchItComponent, MockArmComponent, MockFetchComponent, MockFetchItComponent, MockMoveItComponent, MockPR2Component, MockSpotComponent, MockUR5eComponent, MoveItComponent, PR2Component
public interface ArmInterface

  • Method Summary

    Modifier and Type
    Method
    Description
    Justification
    closeGripper(String groupName)
     
    boolean
    executeTrajectory(String trajectoryName)
    Execute a previously recorded trajectory.
    org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,javax.vecmath.Quat4d>
    getEEPose(String groupName)
    Convenience method of getPose that finds the end-effector link based on the passed in groupName.
    float
    getGripperPosition(String groupName)
     
    org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,javax.vecmath.Quat4d>
    getPose(String linkName)
    Get the point and orientation of a link on the robot.
    boolean
    goToPose(Symbol poseName)
    Move robot to previously recorded robot state/pose.
    boolean
    goToPose(String groupName, Symbol poseName)
    Move robot to previously recorded robot state/pose, using only the specified group name (e.g., right_arm).
    boolean
    goToStartPose(boolean safe)
    Go to the start pose saved in the JSON file.
    Justification
    graspObject(String groupName, Symbol refId, float position)
    Close gripper(s) to specified amount and attach MemoryObject as a collision object.
    void
    loadEEPosesFromFile(String filename)
    Load poses previously saved to file and make them accessible via goToPose.
    void
    loadPosesFromFile(String filename)
    Load poses previously saved to file and make them accessible via goToPose.
    void
    loadTrajectoriesFromFile(String filename)
    Load trajectories from a file that was generated via saveTrajectoriesToFile().
    boolean
    moveGripper(String groupName, float meters)
     
    Justification
    moveTo(String groupName, Symbol refId)
    Move arms(s) to location of chosen grasp specified in MemoryObject.
    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.
    boolean
    moveTo(String groupName, javax.vecmath.Point3d point, javax.vecmath.Quat4d orientation)
    Move the groupName to a pose.
    boolean
    moveTo(String groupName, javax.vecmath.Point3d point_l, javax.vecmath.Quat4d orientation_l, javax.vecmath.Point3d point_r, javax.vecmath.Quat4d orientation_r)
    Move the groupName to specified poses(s).
    Justification
    moveToRelative(String groupName, javax.vecmath.Point3d point, javax.vecmath.Quat4d orientation)
    Move a certain amount from the current location, without any squeezing or releasing.
    Justification
    openGripper(String groupName)
     
    boolean
    pointTo(String groupName, Symbol objectRef)
    Point a groupName to an object.
    Justification
    pressObject(String group_name, Symbol refID)
    Presses an object based off a given symbol
    Justification
    pressObject(String group_name, javax.vecmath.Point3d object_location, javax.vecmath.Quat4d object_orientation)
    Presses an object based off a given pose
    boolean
    recordPose(Symbol poseName)
    Record current robot state (i.e., joint positions), and name it.
    Justification
    releaseObject(String groupName, Symbol refId, float position)
    Move arm(s) and open gripper(s) to specified amount and detach MemoryObject as collision object.
    boolean
    saveEEPosesToFile(String filename)
    Write the poses recorded via recordPose to file.
    boolean
    savePosesToFile(String filename)
    Write the poses recorded via recordPose to file.
    boolean
    saveTrajectoriesToFile(String filename)
    Take all trajectories saved via startRecordingTrajectory and save them to a file for later.
    void
    startRecordingTrajectory(String trajectoryName)
    Start recording a trajectory.
    void
    stopRecordingTrajectory()
    Stop recording the currently running trajectory recording.

  • Method Details

    • moveTo

      boolean moveTo(String groupName, javax.vecmath.Point3d point, javax.vecmath.Quat4d orientation)
      Move the groupName to a pose. Uses the default coordinate frame as set by JSON (defaulting to base_link).
      Returns:
      true on success, false on failure. This function blocks.

    • moveTo

      boolean moveTo(String groupName, javax.vecmath.Point3d point_l, javax.vecmath.Quat4d orientation_l, javax.vecmath.Point3d point_r, javax.vecmath.Quat4d orientation_r)
      Move the groupName to specified poses(s). If group name only contains a single arm, use a different moveTo().

      Note that there's a baked-in assumption that the only two-arned nmachines will use a group name that is checked against in the 'isOneArm()' method (currently just "arms"). Update this function if this does not describe your use case. It also assumes that groupName "arms" can be described as independent movement of groupName "left_arm" and groupName "right_arm". At this point in time this is a safe assumption because of the state of the PR2's JSON config. point_l, orientation_l refer to the left arm, point_r and orientation_r refer to the right.

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

    • moveTo

      Justification moveTo(String groupName, Symbol refId)
      Move arms(s) to location of chosen grasp specified in MemoryObject. Uses the default "grasp_point(X)" constraint to select grasp points. Assumes default coordinate frame as set by JSON, defaulting to base_link. Note: gripper should already be open/closed before calling this method. This is an alternative method to moveTo that takes in POWER ref instead of MemoryObject.
      Returns:
      true on success, false on failure. This function blocks.

    • moveTo

      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. Assumes base_link coordinate frame. Note: gripper should already be open/closed before calling this method.
      Parameters:
      constraints - a list of predicate constraints
      Returns:
      true on success, false on failure. This function blocks.

    • moveToRelative

      Justification moveToRelative(String groupName, javax.vecmath.Point3d point, javax.vecmath.Quat4d orientation)
      Move a certain amount from the current location, without any squeezing or releasing.
      Parameters:
      groupName - the name of the arm or arms to move
      point - the amount of change in base frame the object is moved
      orientation - the amount to rotate the object in goal state from its current rotation in base frame
      Returns:
      success or failure to move. This function blocks.

    • graspObject

      Justification graspObject(String groupName, Symbol refId, float position)
      Close gripper(s) to specified amount and attach MemoryObject as a collision object. Alternative method to graspObject that takes in POWER ref instead of MemoryObject.
      Returns:
      true on success, false on failure. This function blocks.

    • releaseObject

      Justification releaseObject(String groupName, Symbol refId, float position)
      Move arm(s) and open gripper(s) to specified amount and detach MemoryObject as collision object. Alternative method to releaseObject that takes in POWER ref instead of MemoryObject.
      Returns:
      true on success, false on failure. This function blocks.

    • pointTo

      boolean pointTo(String groupName, Symbol objectRef)
      Point a groupName to an object.
      Returns:
      true on success, false on failure. This function blocks

    • getEEPose

      org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,javax.vecmath.Quat4d> getEEPose(String groupName)
      Convenience method of getPose that finds the end-effector link based on the passed in groupName.
      Parameters:
      groupName -
      Returns:

    • getPose

      org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,javax.vecmath.Quat4d> getPose(String linkName)
      Get the point and orientation of a link on the robot.

    • recordPose

      boolean recordPose(Symbol poseName)
      Record current robot state (i.e., joint positions), and name it.
      Parameters:
      poseName - The name of the pose to be saved.
      Returns:
      true on success, false on failure. This function blocks.

    • saveEEPosesToFile

      boolean saveEEPosesToFile(String filename)
      Write the poses recorded via recordPose to file.
      Returns:
      true on success

    • loadEEPosesFromFile

      void loadEEPosesFromFile(String filename)
      Load poses previously saved to file and make them accessible via goToPose.

    • savePosesToFile

      boolean savePosesToFile(String filename)
      Write the poses recorded via recordPose to file.
      Returns:
      true on success

    • loadPosesFromFile

      void loadPosesFromFile(String filename)
      Load poses previously saved to file and make them accessible via goToPose.

    • goToPose

      boolean goToPose(String groupName, Symbol poseName)
      Move robot to previously recorded robot state/pose, using only the specified group name (e.g., right_arm). Currently set to ignore gripper joints so it will leave grippers in current state of open/closed.
      Parameters:
      groupName - which arm(s) should move (rightArm, leftArm, arms, etc)
      poseName - name of pose to move into
      Returns:
      true on success, false on failure. This function blocks.

    • goToPose

      boolean goToPose(Symbol poseName)
      Move robot to previously recorded robot state/pose. Currently set to ignore gripper joints so it will leave grippers in current state of open/closed.
      Parameters:
      poseName - name of pose to move into
      Returns:
      true on success, false on failure. This function blocks.

    • goToStartPose

      boolean goToStartPose(boolean safe)
      Go to the start pose saved in the JSON file.
      Returns:
      success

    • startRecordingTrajectory

      void startRecordingTrajectory(String trajectoryName)
      Start recording a trajectory. Trajectory recording can be started here, the robot can be physically manipulated, and then stopRecordingTrajectory can be called to stop the current recording.
      Parameters:
      trajectoryName - The name of the trajectory to be saved.

    • stopRecordingTrajectory

      void stopRecordingTrajectory()
      Stop recording the currently running trajectory recording.

    • executeTrajectory

      boolean executeTrajectory(String trajectoryName)
      Execute a previously recorded trajectory.
      Returns:
      true on success, false on failure. This function blocks.

    • saveTrajectoriesToFile

      boolean saveTrajectoriesToFile(String filename)
      Take all trajectories saved via startRecordingTrajectory and save them to a file for later.
      Parameters:
      filename - Path to file
      Returns:
      true on success, false on failure.

    • loadTrajectoriesFromFile

      void loadTrajectoriesFromFile(String filename)
      Load trajectories from a file that was generated via saveTrajectoriesToFile(). The loaded trajectories will then be executable via executeTrajectory().

    • closeGripper

      Justification closeGripper(String groupName)

    • openGripper

      Justification openGripper(String groupName)

    • moveGripper

      boolean moveGripper(String groupName, float meters)

    • getGripperPosition

      float getGripperPosition(String groupName)

    • pressObject

      Justification pressObject(String group_name, javax.vecmath.Point3d object_location, javax.vecmath.Quat4d object_orientation)
      Presses an object based off a given pose
      Parameters:
      group_name - The arm group to do the pressing (i.e. "arm")
      object_location - The location of the object relative to the base link
      object_orientation - The orientation of the object relative to the base link with the normal vector coming out of the object
      Returns:
      Condition Justification stating if the action is successful or not

    • pressObject

      Justification pressObject(String group_name, Symbol refID)
      Presses an object based off a given symbol
      Parameters:
      group_name - The arm group to do the pressing (i.e. "arm")
      refID - Symbol representing the object to be pressed
      Returns:
      Condition Justification stating if the action is successful or not