grasp_utils_doc.txt

Tf manager class:
Prototipe: tf_man = TF_MANAGER()
Description: Tf2 ros listener and static/dinamic broadcaster
Methods: tf_man.pub_tf(pos=[], rot = [], point_name='', ref='map') --> ()
			Publishes a dinamic tf at any given position and reference frame

		tf_man.pub_static_tf(pos=[], rot = [], point_name='', ref='map') --> ()
			Publishes a static tf at any given position and reference frame

		tf_man.getTF(target_frame='', ref_frame='map') --> [trans, rot]
			Gets any given tf relative to any reference frame

		tf_man.change_ref_frame_tf(point_name='', new_frame='map') --> ()
			Changes the reference frame for any given point

		tf_man.tf2_obj_2_arr(tf) --> [trans, rot]
			Transform a tf2 object to 2 arrays


Wrist Sensor class:
Prototipe: wrench = WRIST_SENSOR()
Description: Gets xyz forces and torques applied to gripper
Methods: wrench.get_force() --> [fx, fy, fz]
		wrench.get_torque() --> [tx, ty, tz]

Gripper class:
Prototipe: gripper = GRIPPER()
Description: Gripper handler
Methods: gripper.open() --> ()
			Opens the gripper with force applied

		gripper.close() --> ()
			Closes the gripper with force applied

		gripper.steady() --> () 
			Keeps gripper with no force applied

Omnibase class:
Prototipe: base = OMNIBASE()
Description: Handles the robot omnibase with relative movement
Methods: base.tiny_move(velX = 0, velY = 0, velT = 0, std_time = 0.5, MAX_VEL = 0.03, MAX_VEL_THETA = 0.5) --> ()
					velX: speed on X direction
					velY: speed on Y direction
					velT: speed on turn
					std_time: time duration of movement
					MAX_VEL: max x and y speed allowed
					MAX_VEL_THETA max turn speed allowed

Gaze class:
Prototipe: gaze = GAZE()
Description: Calculates pan and tilt angles to face any direction
Methods: gaze.absolute(x, y, z) --> [pan, tilt]
				x,y,z: Any given coordenate relative to 'map' frame

		gaze.relative(x,y,z) ---> [pan, tilt]
				x,y,z: Any given coordenate relative to 'base_link' frame

		gaze.hand(x,y,z) --> ()
				Method not working yet