Package edu.tufts.hrilab.pr2

Class PR2Component

java.lang.Object

edu.tufts.hrilab.diarc.DiarcComponent

edu.tufts.hrilab.moveit.MoveItComponent

edu.tufts.hrilab.pr2.PR2Component

All Implemented Interfaces:

ArmInterface, LearningInterface, MoveItInterface, PR2Interface

public final class PR2Component
extends MoveItComponent
implements PR2Interface

Field Summary

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

configName, defaultConfigDir, eePoses, eeTransform, endEffectorNames, grippers, 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
PR2Component()

Method Summary

Modifier and Type	Method	Description
protected List<org.apache.commons.cli.Option>	additionalUsageInfo()	Command line options available in sub-class.
boolean	goToPoseNoPlanning(String pose_name)
protected void	init()	Perform any component initialization.
protected void	parseArgs(org.apache.commons.cli.CommandLine cmdLine)	Called directly after construction to pass runtime values that will override default values.
boolean	pointHeadTo(Symbol objectRef)	Point head in direction of target object in base_link coordinate frame.
boolean	pointHeadTo(javax.vecmath.Point3d targetPosition)	Point head in direction of target point in base_link coordinate frame.
boolean	setTorsoPosition(double position)	Move the torso to desired joint position.
void	startRecordingTrajectory(String trajectoryName)	There are two arms here, so startRecordingTrajectory intentionally overrides MoveItComponent method.

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, 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, 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, moveTo, moveToRelative, openGripper, pointTo, pressObject, pressObject, recordPose, releaseObject, saveEEPosesToFile, savePosesToFile, saveTrajectoriesToFile, stopRecordingTrajectory

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

PR2Component

public PR2Component()

Method Details

init

protected void init()

Description copied from class: DiarcComponent

Perform any component initialization. This should not be used for setting local fields to default values as was the case in DIARC. This method is called after the constructor, and after parseArgs. Setting default values should be done in field declaration or in the constructor.

Overrides:

init in class MoveItComponent

additionalUsageInfo

protected List<org.apache.commons.cli.Option> additionalUsageInfo()

Description copied from class: DiarcComponent

Command line options available in sub-class. This should be paired with a parseArgs implementation.

Overrides:

additionalUsageInfo in class MoveItComponent

Returns:

parseArgs

protected void parseArgs(org.apache.commons.cli.CommandLine cmdLine)

Description copied from class: DiarcComponent

Called directly after construction to pass runtime values that will override default values. This should parse all the options that additionalUsageInfo provides.zs

Overrides:

parseArgs in class MoveItComponent

setTorsoPosition

public boolean setTorsoPosition(double position)

Description copied from interface: PR2Interface

Move the torso to desired joint position. TODO: replace this with the more general setJointPosition(String joint, double position) method in MoveItComponent

Specified by:

setTorsoPosition in interface PR2Interface

Parameters:

position - all the way down is 0.0, and all the way up is approximately 0.3

Returns:

pointHeadTo

public boolean pointHeadTo(Symbol objectRef)

Description copied from interface: PR2Interface

Point head in direction of target object in base_link coordinate frame. Alternative method to pointHeadTo that takes in POWER ref instead of MemoryObject.

Specified by:

pointHeadTo in interface PR2Interface

Returns:

pointHeadTo

public boolean pointHeadTo(javax.vecmath.Point3d targetPosition)

Description copied from interface: PR2Interface

Point head in direction of target point in base_link coordinate frame.

Specified by:

pointHeadTo in interface PR2Interface

Returns:

goToPoseNoPlanning

public boolean goToPoseNoPlanning(String pose_name)

Specified by:

goToPoseNoPlanning in interface PR2Interface

startRecordingTrajectory

public void startRecordingTrajectory(String trajectoryName)

There are two arms here, so startRecordingTrajectory intentionally overrides MoveItComponent method.

Specified by:

startRecordingTrajectory in interface ArmInterface

Overrides:

startRecordingTrajectory in class MoveItComponent

Parameters:

trajectoryName -