pr2-interface
- :super robot-move-base-interface
- :slots r-gripper-action l-gripper-action finger-pressure-origin
:gripper
&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