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216 changes: 210 additions & 6 deletions docs/pr2eus/pr2-interface.md
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Original file line number Diff line number Diff line change
@@ -1,9 +1,29 @@
### pr2-robot
- :super **euscollada-robot**
- :slots rot pos parent descendants worldcoords manager changed links joint-list bodies collision-avoidance-links end-coords-list larm-end-coords rarm-end-coords lleg-end-coords rleg-end-coords head-end-coords torso-end-coords larm-root-link rarm-root-link lleg-root-link rleg-root-link head-root-link torso-root-link larm-collision-avoidance-links rarm-collision-avoidance-links larm rarm lleg rleg torso head force-sensors imu-sensors cameras support-polygons base_bellow_joint_jt base_footprint_joint_jt base_laser_joint_jt bl_caster_l_wheel_joint_jt bl_caster_r_wheel_joint_jt bl_caster_rotation_joint_jt br_caster_l_wheel_joint_jt br_caster_r_wheel_joint_jt br_caster_rotation_joint_jt double_stereo_frame_joint_jt fl_caster_l_wheel_joint_jt fl_caster_r_wheel_joint_jt fl_caster_rotation_joint_jt fr_caster_l_wheel_joint_jt fr_caster_r_wheel_joint_jt fr_caster_rotation_joint_jt head_chain_cb_jt head_mount_joint_jt head_mount_kinect_ir_joint_jt head_mount_kinect_ir_optical_frame_joint_jt head_mount_kinect_rgb_joint_jt head_mount_kinect_rgb_optical_frame_joint_jt head_mount_prosilica_joint_jt head_mount_prosilica_optical_frame_joint_jt head_pan_joint_jt head_plate_frame_joint_jt head_tilt_joint_jt high_def_frame_joint_jt high_def_optical_frame_joint_jt imu_joint_jt l_elbow_flex_joint_jt l_forearm_cam_frame_joint_jt l_forearm_cam_optical_frame_joint_jt l_forearm_joint_jt l_forearm_roll_joint_jt l_gripper_joint_jt l_gripper_l_finger_joint_jt l_gripper_l_finger_tip_joint_jt l_gripper_led_joint_jt l_gripper_motor_accelerometer_joint_jt l_gripper_motor_screw_joint_jt l_gripper_motor_slider_joint_jt l_gripper_palm_joint_jt l_gripper_r_finger_joint_jt l_gripper_r_finger_tip_joint_jt l_gripper_tool_joint_jt l_shoulder_lift_joint_jt l_shoulder_pan_joint_jt l_torso_lift_side_plate_joint_jt l_upper_arm_joint_jt l_upper_arm_roll_joint_jt l_wrist_flex_joint_jt l_wrist_roll_joint_jt laser_tilt_joint_jt laser_tilt_mount_joint_jt left_arm_chain_cb_jt narrow_stereo_frame_joint_jt narrow_stereo_l_stereo_camera_frame_joint_jt narrow_stereo_l_stereo_camera_optical_frame_joint_jt narrow_stereo_optical_frame_joint_jt narrow_stereo_r_stereo_camera_frame_joint_jt narrow_stereo_r_stereo_camera_optical_frame_joint_jt projector_wg6802418_child_frame_joint_jt projector_wg6802418_frame_joint_jt r_elbow_flex_joint_jt r_forearm_cam_frame_joint_jt r_forearm_cam_optical_frame_joint_jt r_forearm_joint_jt r_forearm_roll_joint_jt r_gripper_joint_jt r_gripper_l_finger_joint_jt r_gripper_l_finger_tip_joint_jt r_gripper_led_joint_jt r_gripper_motor_accelerometer_joint_jt r_gripper_motor_screw_joint_jt r_gripper_motor_slider_joint_jt r_gripper_palm_joint_jt r_gripper_r_finger_joint_jt r_gripper_r_finger_tip_joint_jt r_gripper_tool_joint_jt r_shoulder_lift_joint_jt r_shoulder_pan_joint_jt r_torso_lift_side_plate_joint_jt r_upper_arm_joint_jt r_upper_arm_roll_joint_jt r_wrist_flex_joint_jt r_wrist_roll_joint_jt right_arm_chain_cb_jt sensor_mount_frame_joint_jt torso_lift_joint_jt torso_lift_motor_screw_joint_jt wide_stereo_frame_joint_jt wide_stereo_l_stereo_camera_frame_joint_jt wide_stereo_l_stereo_camera_optical_frame_joint_jt wide_stereo_optical_frame_joint_jt wide_stereo_r_stereo_camera_frame_joint_jt wide_stereo_r_stereo_camera_optical_frame_joint_jt base_bellow_link_lk base_laser_link_lk bl_caster_l_wheel_link_lk bl_caster_r_wheel_link_lk bl_caster_rotation_link_lk br_caster_l_wheel_link_lk br_caster_r_wheel_link_lk br_caster_rotation_link_lk fl_caster_l_wheel_link_lk fl_caster_r_wheel_link_lk fl_caster_rotation_link_lk fr_caster_l_wheel_link_lk fr_caster_r_wheel_link_lk fr_caster_rotation_link_lk head_chain_cb_link_lk head_mount_kinect_ir_optical_frame_lk head_mount_kinect_rgb_optical_frame_lk head_mount_kinect_rgb_link_lk head_mount_kinect_ir_link_lk head_mount_prosilica_optical_frame_lk head_mount_prosilica_link_lk head_mount_link_lk projector_wg6802418_child_frame_lk projector_wg6802418_frame_lk narrow_stereo_l_stereo_camera_optical_frame_lk narrow_stereo_r_stereo_camera_optical_frame_lk narrow_stereo_r_stereo_camera_frame_lk narrow_stereo_l_stereo_camera_frame_lk narrow_stereo_optical_frame_lk narrow_stereo_link_lk wide_stereo_l_stereo_camera_optical_frame_lk wide_stereo_r_stereo_camera_optical_frame_lk wide_stereo_r_stereo_camera_frame_lk wide_stereo_l_stereo_camera_frame_lk wide_stereo_optical_frame_lk wide_stereo_link_lk double_stereo_link_lk high_def_optical_frame_lk high_def_frame_lk sensor_mount_link_lk head_plate_frame_lk head_tilt_link_lk head_pan_link_lk imu_link_lk l_forearm_cam_optical_frame_lk l_forearm_cam_frame_lk l_gripper_l_finger_tip_link_lk l_gripper_l_finger_link_lk l_gripper_led_frame_lk l_gripper_motor_accelerometer_link_lk l_gripper_motor_screw_link_lk l_gripper_motor_slider_link_lk l_gripper_l_finger_tip_frame_lk l_gripper_r_finger_tip_link_lk l_gripper_r_finger_link_lk l_gripper_tool_frame_lk l_gripper_palm_link_lk left_arm_chain_cb_link_lk l_wrist_roll_link_lk l_wrist_flex_link_lk l_forearm_link_lk l_forearm_roll_link_lk l_elbow_flex_link_lk l_upper_arm_link_lk l_upper_arm_roll_link_lk l_shoulder_lift_link_lk l_shoulder_pan_link_lk l_torso_lift_side_plate_link_lk laser_tilt_link_lk laser_tilt_mount_link_lk r_forearm_cam_optical_frame_lk r_forearm_cam_frame_lk r_gripper_l_finger_tip_link_lk r_gripper_l_finger_link_lk r_gripper_led_frame_lk r_gripper_motor_accelerometer_link_lk r_gripper_motor_screw_link_lk r_gripper_motor_slider_link_lk r_gripper_l_finger_tip_frame_lk r_gripper_r_finger_tip_link_lk r_gripper_r_finger_link_lk r_gripper_tool_frame_lk r_gripper_palm_link_lk right_arm_chain_cb_link_lk r_wrist_roll_link_lk r_wrist_flex_link_lk r_forearm_link_lk r_forearm_roll_link_lk r_elbow_flex_link_lk r_upper_arm_link_lk r_upper_arm_roll_link_lk r_shoulder_lift_link_lk r_shoulder_pan_link_lk r_torso_lift_side_plate_link_lk torso_lift_link_lk torso_lift_motor_screw_link_lk base_link_lk base_footprint_lk rarm-grasping-obj larm-grasping-obj



:torque-vector *&rest* *args*


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



#### :move-gripper
&nbsp;&nbsp;&nbsp;*arm* *pos* *&key* *(effort 25)* <br>&nbsp;&nbsp;&nbsp;*(wait t)* <br>&nbsp;&nbsp;&nbsp;*(ignore-stall)*

- Moves gripper of `arm` to target `pos` with `effort`. <br>
`arm` is either :rarm, :larm or :arms. <br>
`pos` is the desired distance between grippers [m]. <br>
If wait is T, this function returns T for each arm if reached goal or stalled, NIL otherwise. <br>
If `ignore-stall` is T, returns NIL for each arm on stall. (e.g. when an object is grasped). <br>
If wait if NIL, returns T for each arm if goal is accepted, NIL otherwise. <br>


#### :gripper
&nbsp;&nbsp;&nbsp;*&rest* *args*

Expand All @@ -14,6 +34,61 @@ Arguments: <br>
Example: (send self :gripper :rarm :position) => 0.00 <br>


#### :angle-vector-with-constraint
&nbsp;&nbsp;&nbsp;*av1* *&optional* *(tm 3000)* *(arm :arms)* *&key* *(rotation-axis t)* <br>&nbsp;&nbsp;&nbsp;*(translation-axis t)* <br>&nbsp;&nbsp;&nbsp;*(revert-if-fail t)* <br>&nbsp;&nbsp;&nbsp;*(initial-angle-vector nil)* <br>&nbsp;&nbsp;&nbsp;*(div 10)* <br>&nbsp;&nbsp;&nbsp;*&rest* <br>&nbsp;&nbsp;&nbsp;*args*

- Send trajectory with interpolation in euclidean space. <br>
`av1` is the target angle vector. `tm` is the total duration of the motion. `arm` is the controller that the trajectory is sent to. <br>
`:rotation-axis` and `:translation-axis` are for setting constraint on interpolated trajectory. <br>
If `:revert-if-fail` is NIL, no trajectory is sent if the interpolation is failed. <br>
If `:initial-angle-vector` is set, the value is used as initial pose of the robot, otherwise the `:reference-vector` is used. <br>


#### :list-controllers


- Returns list of available controllers with cons where cdr is t if the controller is running state, nil otherwise. <br>
<br>


#### :switch-controller
&nbsp;&nbsp;&nbsp;*stop* *start* *&key* *(force)*

- Switch controller <br>
Args: <br>
stop: controller name or list of controllers to stop <br>
start: controller name or list of controllers to start <br>
force: switch with strict policy if set to t, switch with best effort otherwise. <br>
Returns: t if successfully switched controllers, nil otherwise. <br>
<br>


#### :start-mannequin-mode
&nbsp;&nbsp;&nbsp;*&optional* *(controller t)*

- Switch controller to loose_controller. <br>
Args: <br>
controller: :head :arms :rarm :larm, list of controllers or t for all controllers <br>
Returns: t if success, nil otherwise. <br>
<br>


#### :stop-mannequin-mode
&nbsp;&nbsp;&nbsp;*&optional* *(controller t)*

- Switch controller from loose_controller to normal controller. <br>
Args: <br>
controller: :head :arms :rarm :larm, list of controllers or t for all controllers <br>
Returns: t if success, nil otherwise. <br>
<br>


#### :change-inflation-range
&nbsp;&nbsp;&nbsp;*&optional* *(range 0.3)*

- Changes inflation range of local costmap for obstacle avoidance. <br>


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

:state *&rest* *args*
Expand Down Expand Up @@ -44,11 +119,11 @@ Example: (send self :gripper :rarm :position) => 0.00 <br>

: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* *((:wait wait) t)*

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

:stop-grasp *&optional* *(arm :arms)* *&key* *(wait nil)*
:stop-grasp *&optional* *(arm :arms)* *&key* *((:gain g) 0.03)* *(wait nil)*

:pr2-gripper-state-callback *arm* *msg*

Expand All @@ -60,15 +135,144 @@ Example: (send self :gripper :rarm :position) => 0.00 <br>

: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*

#### :gripper
&nbsp;&nbsp;&nbsp;*&rest* *args*

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


#### :move-gripper
&nbsp;&nbsp;&nbsp;*arm* *pos* *&key* *(effort 25)* <br>&nbsp;&nbsp;&nbsp;*(wait t)* <br>&nbsp;&nbsp;&nbsp;*(ignore-stall)*

- Moves gripper of `arm` to target `pos` with `effort`. <br>
`arm` is either :rarm, :larm or :arms. <br>
`pos` is the desired distance between grippers [m]. <br>
If wait is T, this function returns T for each arm if reached goal or stalled, NIL otherwise. <br>
If `ignore-stall` is T, returns NIL for each arm on stall. (e.g. when an object is grasped). <br>
If wait if NIL, returns T for each arm if goal is accepted, NIL otherwise. <br>


:wait-torso *&optional* *(timeout 0)*

:finger-pressure *arm* *&key* *(zero nil)*

:reset-fingertip

:pr2-fingertip-callback *arm* *msg*

:pr2-gripper-state-callback *arm* *msg*

:stop-grasp *&optional* *(arm :arms)* *&key* *((:gain g) 0.03)* *(wait nil)*

:get-grasp-result *&optional* *(arm :arms)*

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

:head-angle-vector *av* *tm*

:rarm-angle-vector *av* *tm*

:larm-angle-vector *av* *tm*

:controller-angle-vector *av* *tm* *type*

:fullbody-controller

:midbody-controller

:default-controller

:torso-controller

:head-controller

:rarm-controller

:larm-controller

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

:publish-joint-state

:state *&rest* *args*

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


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

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

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


#### :angle-vector-with-constraint
&nbsp;&nbsp;&nbsp;*av1* *&optional* *(tm 3000)* *(arm :arms)* *&key* *(rotation-axis t)* <br>&nbsp;&nbsp;&nbsp;*(translation-axis t)* <br>&nbsp;&nbsp;&nbsp;*(revert-if-fail t)* <br>&nbsp;&nbsp;&nbsp;*(initial-angle-vector nil)* <br>&nbsp;&nbsp;&nbsp;*(div 10)* <br>&nbsp;&nbsp;&nbsp;*&rest* <br>&nbsp;&nbsp;&nbsp;*args*

- Send trajectory with interpolation in euclidean space. <br>
`av1` is the target angle vector. `tm` is the total duration of the motion. `arm` is the controller that the trajectory is sent to. <br>
`:rotation-axis` and `:translation-axis` are for setting constraint on interpolated trajectory. <br>
If `:revert-if-fail` is NIL, no trajectory is sent if the interpolation is failed. <br>
If `:initial-angle-vector` is set, the value is used as initial pose of the robot, otherwise the `:reference-vector` is used. <br>



#### :stop-mannequin-mode
&nbsp;&nbsp;&nbsp;*&optional* *(controller t)*

- Switch controller from loose_controller to normal controller. <br>
Args: <br>
controller: :head :arms :rarm :larm, list of controllers or t for all controllers <br>
Returns: t if success, nil otherwise. <br>
<br>


#### :start-mannequin-mode
&nbsp;&nbsp;&nbsp;*&optional* *(controller t)*

- Switch controller to loose_controller. <br>
Args: <br>
controller: :head :arms :rarm :larm, list of controllers or t for all controllers <br>
Returns: t if success, nil otherwise. <br>
<br>


#### :switch-controller
&nbsp;&nbsp;&nbsp;*stop* *start* *&key* *(force)*

- Switch controller <br>
Args: <br>
stop: controller name or list of controllers to stop <br>
start: controller name or list of controllers to start <br>
force: switch with strict policy if set to t, switch with best effort otherwise. <br>
Returns: t if successfully switched controllers, nil otherwise. <br>
<br>


#### :list-controllers


- Returns list of available controllers with cons where cdr is t if the controller is running state, nil otherwise. <br>
<br>



#### :change-inflation-range
&nbsp;&nbsp;&nbsp;*&optional* *(range 0.3)*

- Changes inflation range of local costmap for obstacle avoidance. <br>



pr2-init *&optional* *(create-viewer)*
Expand Down
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