Pr2 interface

&rest args

get information of gripper
Arguments:
arm (:larm :rarm :arms)
type (:position :velocity :pressure)
Example: (send self :gripper :rarm :position) => 0.00

:init &rest args &key (type :default-controller) &allow-other-keys

:state &rest args

:publish-joint-state

:wait-interpolation &optional (ctype) (timeout 0)

:larm-controller

:rarm-controller

:head-controller

:torso-controller

:default-controller

:midbody-controller

:fullbody-controller

:controller-angle-vector av tm type

:larm-angle-vector av tm

:rarm-angle-vector av tm

:head-angle-vector av tm

:move-gripper arm pos &key (effort 25) (wait t)

:start-grasp &optional (arm :arms) &key ((:gain g) 0.01) ((:objects objs) objects) force-assoc

:stop-grasp &optional (arm :arms) &key (wait nil)

:pr2-gripper-state-callback arm msg

:pr2-fingertip-callback arm msg

:reset-fingertip

:finger-pressure arm &key (zero nil)

:wait-torso &optional (timeout 0)

:robot-interface-simulation-callback

:check-continuous-joint-move-over-180 diff-av

:angle-vector av &optional (tm 3000) &rest args

:angle-vector-sequence avs &optional (tms (list 3000)) &rest args

:angle-vector-with-constraint av1 &optional (tm 3000) (arm :arms) &key (rotation-axis t) (translation-axis t) &rest args

pr2-init &optional (create-viewer)

get-tuckarm free-arm dir arm

check-tuckarm-pose &key (thre 20) &rest args

pr2-tuckarm-pose &rest args

pr2-reset-pose

use-tilt-laser-obstacle-cloud enable