libhsrutil

Library for utility functions of HSR.

class libhsrutil.LibHSRUtil(libutil, libtf)

Bases: object

HSR Utility library for WRS simlator.

delete()
dict_to_hsr_joints(joints)
get_robot_position_on_map()

Get the current positions on map.

hsr_joints_to_dict(hsr_joints)
is_in_place(place, tolerance)

Determine if the robot is in a specified place.

Parameters

  • place (list, geometry_msgs/Pose2D) – Place positions.

  • tolerance (list, geometry_msgs/Pose2D) – Tolerances.

Returns

Whether or not the goal is reached.

Return type

bool

wait_goal_all_joints(joints, pos_tolerance=0.01, arm_ori_tolerance=0.017, head_ori_tolerance=0.017, arm_timeout=5.0, head_timeout=5.0)

Waiting until arm and head joints reach the target value.

Parameters

  • joints (dict[str, float]) – Target value each arm joint.

  • pos_tolerance (float, optional) – The tolerance of positions. Defaults to 0.01[m].

  • arm_ori_tolerance (float, optional) – The tolerance of arm orientations. Defaults to 0.017[rad].

  • head_ori_tolerance (float, optional) – The tolerance of head orientations. Defaults to 0.017[rad].

  • arm_timeout (float, optional) – Timeout time for arm. Defaults to 5.0[sec].

  • head_timeout (float, optional) – Timeout time for head. Defaults to 5.0[sec].

Returns

Whether the target joint value was reached or not.

Return type

tuple[bool]

wait_goal_arm_joints(joints, pos_tolerance=0.01, ori_tolerance=0.017, timeout=5.0)

Waiting until arm joints reach the target value.

Parameters

  • joints (dict[str, float]) – Target value each arm joint.

  • pos_tolerance (float, optional) – The tolerance of positions. Defaults to 0.01[m].

  • ori_tolerance (float, optional) – The tolerance of orientations. Defaults to 0.017[rad].

  • timeout (float, optional) – Timeout time. Defaults to 5.0[sec].

Returns

Whether the target joint value was reached or not.

Return type

bool

wait_goal_head_joints(joints, ori_tolerance=0.017, timeout=5.0)

Waiting until head joints reach the target value.

Parameters

  • joints (dict[str, float]) – Target value each head joint.

  • ori_tolerance (float, optional) – The tolerance of orientations. Defaults to 0.017[rad].

  • timeout (float, optional) – Timeout time. Defaults to 5.0[sec].

Returns

Whether the target joint value was reached or not.

Return type

bool