Module Expr Str ImportFrom alias alias Import alias Import alias Import alias ImportFrom alias ImportFrom alias ImportFrom alias ClassDef bases body Assign NameStore Str Assign NameStore Str Assign NameStore Str Assign NameStore Str Assign NameStore Str decorator_list ClassDef bases NameLoad body Assign NameStore NameLoad Assign NameStore Num Assign NameStore Num FunctionDef arguments args NameParam defaults body Expr Str Assign AttributeStore NameLoad attr AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr Str Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr Call NameLoad AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Dict decorator_list FunctionDef arguments args NameParam defaults body Expr Call AttributeLoad NameLoad attr Str Expr Call AttributeLoad AttributeLoad NameLoad attr attr decorator_list FunctionDef arguments args NameParam NameParam defaults body While NameLoad body If CompareEq AttributeLoad NameLoad attr NameLoad body Break decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign AttributeStore NameLoad attr Call NameLoad NameLoad Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call NameLoad NameLoad Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Expr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body Expr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str If Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr body Assign NameStore SubscriptLoad NameLoad Index AttributeLoad NameLoad attr Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Return Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str If Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr body Expr Call AttributeLoad AttributeLoad NameLoad attr attr SubscriptLoad NameLoad Index AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str If Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr body Expr Call AttributeLoad AttributeLoad NameLoad attr attr SubscriptLoad NameLoad Index AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr BinOpPow BinOpSub NameLoad NameLoad Num Return NameLoad decorator_list NameLoad FunctionDef arguments args NameParam NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad Return NameLoad decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr BinOpPow NameLoad Num Return NameLoad decorator_list NameLoad FunctionDef arguments args NameParam defaults body Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Assign AttributeStore NameLoad attr NameLoad decorator_list AttributeLoad NameLoad attr FunctionDef arguments args NameParam defaults body Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Assign AttributeStore NameLoad attr NameLoad decorator_list AttributeLoad NameLoad attr FunctionDef arguments args NameParam defaults body Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list AttributeLoad NameLoad attr FunctionDef arguments args NameParam defaults body Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad decorator_list AttributeLoad NameLoad attr FunctionDef arguments args NameParam NameParam defaults body Raise Call NameLoad decorator_list NameLoad FunctionDef arguments args NameParam defaults body Raise Call NameLoad decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Raise Call NameLoad decorator_list NameLoad FunctionDef arguments args NameParam defaults body Raise Call NameLoad decorator_list NameLoad decorator_list
N/A N/A 
@author: Rick Candell
@contact: rick.candell@nist.gov
@organization: NIST
@license: public domain
 abc ABCMeta abstractmethod N/A copy N/A rospy N/A numpy joint_pose_dict JointPoseDictionary command_sequence CommandSequence proxy_depend ProxyDepends ProxyCommand N/A N/A N/A key_command_type type N/A key_command_spec spec N/A key_command_wait_depend wait_depend N/A key_command_set_depend set_depend N/A SYS_BEGIN /system/begin N/A BaseProxy N/A object N/A N/A __metaclass__ ABCMeta N/A _proxy_state_stopped -1 N/A _proxy_state_running 1 __init__ N/A N/A self N/A N/A N/A 
        @todo: implement emergency stop
         N/A N/A self proxy_state N/A self _proxy_state_running N/A N/A self arm_num None N/A N/A self _frame_id base_link N/A N/A self positions None N/A N/A self commands None N/A N/A self _arm_joint_names None N/A N/A self _gripper_joint_names None N/A N/A self _end_effector_link None N/A N/A self _frame_id None N/A N/A self _arm_goal None N/A N/A self _gripper_goal None N/A N/A self depends_status N/A ProxyDepends N/A self arm_num N/A N/A self locks N/A N/A reset_depend_status N/A N/A self N/A N/A N/A N/A N/A rospy loginfo call to reset dependency database in base_proxy N/A N/A N/A N/A self depends_status reset_database N/A wait_for_state N/A N/A self state N/A N/A N/A True N/A N/A N/A N/A self proxy_state state N/A N/A N/A load_control_plan N/A N/A self path_to_dict_yaml path_to_cmds_yaml N/A N/A N/A N/A self positions N/A JointPoseDictionary path_to_dict_yaml N/A N/A N/A rospy logdebug N/A self positions N/A N/A self commands N/A CommandSequence path_to_cmds_yaml N/A N/A N/A rospy logdebug N/A self commands N/A sleep N/A N/A self rate_obj fsecs N/A N/A N/A N/A N/A rospy sleep fsecs N/A wait_for_system_begin N/A N/A self N/A N/A N/A N/A N/A N/A self depends_status wait_for_depend N/A ProxyCommand SYS_BEGIN N/A wait_for_depend N/A N/A self cmd N/A N/A N/A 
        @param cmd: a dictionary containing type, spec, and optional depend 
        @todo: make this support a list of depends
         N/A N/A N/A cmd has_key N/A ProxyCommand key_command_wait_depend N/A N/A wait_depend_name N/A cmd N/A N/A ProxyCommand key_command_wait_depend N/A N/A N/A N/A self depends_status wait_for_depend wait_depend_name N/A get_depend_status N/A N/A self name N/A N/A N/A N/A N/A N/A self depends_status get_depend_status name N/A clear_depend N/A N/A self cmd N/A N/A N/A 
        @param cmd: a dictionary containing type, spec, and optional depend 
        @todo: make this support a list of depends
         N/A N/A N/A cmd has_key N/A ProxyCommand key_command_wait_depend N/A N/A N/A N/A N/A self depends_status transmit_update_depend N/A cmd N/A N/A ProxyCommand key_command_wait_depend False N/A set_depend N/A N/A self cmd N/A N/A N/A 
        @param cmd: a dictionary containing type, spec, and optional depend 
        @todo: make this support a list of depends
         N/A N/A N/A cmd has_key N/A ProxyCommand key_command_set_depend N/A N/A N/A N/A N/A self depends_status transmit_update_depend N/A cmd N/A N/A ProxyCommand key_command_set_depend True N/A measure_euclidean_distance N/A N/A cls x y N/A N/A N/A 
        @notes: measures euclidean distance of all joints combined
         N/A x N/A N/A numpy asfarray x N/A y N/A N/A numpy asfarray y N/A d N/A N/A numpy sqrt N/A N/A numpy sum N/A N/A x y 2 N/A d N/A classmethod measure_joint_distance_sum N/A N/A cls x y N/A N/A N/A 
        @notes: measures sum of all joint distances
         N/A x N/A N/A numpy asfarray x N/A y N/A N/A numpy asfarray y N/A d N/A N/A numpy sum N/A N/A numpy abs N/A x y N/A d N/A classmethod measure_joint_velocity_ss N/A N/A cls x N/A N/A N/A v N/A N/A numpy asfarray x N/A d N/A N/A numpy sum N/A v 2 N/A d N/A classmethod frame_id N/A N/A self N/A N/A N/A N/A self _frame_id N/A property frame_id N/A N/A self name N/A N/A N/A N/A self _frame_id name N/A N/A frame_id setter end_effector_link N/A N/A self N/A N/A N/A N/A self _end_effector_link N/A property end_effector_link N/A N/A self name N/A N/A N/A N/A self _end_effector_link name N/A N/A end_effector_link setter arm_joint_names N/A N/A self N/A N/A N/A N/A self _arm_joint_names N/A property arm_joint_names N/A N/A self names N/A N/A N/A N/A self _arm_joint_names N/A N/A copy deepcopy names N/A N/A arm_joint_names setter gripper_joint_names N/A N/A self N/A N/A N/A N/A self _gripper_joint_names N/A property gripper_joint_names N/A N/A self names N/A N/A N/A N/A self _gripper_joint_names N/A N/A copy deepcopy names N/A N/A gripper_joint_names setter plan_arm N/A N/A self pose N/A N/A N/A N/A NotImplementedError N/A abstractmethod move_arm N/A N/A self N/A N/A N/A N/A NotImplementedError N/A abstractmethod move_gripper N/A N/A self opening_mm N/A N/A N/A N/A NotImplementedError N/A abstractmethod control_loop N/A N/A self N/A N/A N/A N/A NotImplementedError N/A abstractmethod N/A