This page contains all the words in Ein and their help text. You can access this within Ein by running
( word ) help.

WordDescription
aboutFaceRotate the gripper in oZ by 180 degrees.
accumulateAccumulate entries in a compound word using an operator word. Usage: ( 1 1 1 ) ( + ) accumulate -> 3.
accumulatedDensity
activateSensorStreamingStart streaming data; you might want to set the SiS ("Should I Stream?") first using setSisFlags or streamSetSis.
add3dGrasp
add3dGraspPoseWord
addPlaceOverPoint
addPlaceUnderPoint
aiboPoseHeadPan
aiboPoseHeadTilt
aiboPoseLegLF1
aiboPoseLegLF2
aiboPoseLegLF3
aiboPoseLegLH1
aiboPoseLegLH2
aiboPoseLegLH3
aiboPoseLegRF1
aiboPoseLegRF2
aiboPoseLegRF3
aiboPoseLegRH1
aiboPoseLegRH2
aiboPoseLegRH3
aiboPoseMouth
aiboPoseNeck
aiboPoseTailPan
aiboPoseTailTilt
analogIOCommand
and
annotate2dGrasp
append
applyGraspFilter
approachSpeed
arm1By
arm1Current
arm1Down
arm1To
arm1True
arm1Up
arm2By
arm2Current
arm2Down
arm2To
arm2True
arm2Up
arm3By
arm3Current
arm3Down
arm3To
arm3True
arm3Up
arm4By
arm4Current
arm4Down
arm4To
arm4True
arm4Up
arm5By
arm5Current
arm5Down
arm5To
arm5True
arm5Up
arm6By
arm6Current
arm6Down
arm6To
arm6True
arm6Up
arm7By
arm7Current
arm7Down
arm7To
arm7True
arm7Up
armBackButtonState
armOkButtonState
armPose1Get
armPose1Set
armPose2Get
armPose2Set
armPose3Get
armPose3Set
armPose4Get
armPose4Set
armPose5Get
armPose5Set
armPose6Get
armPose6Set
armPose7Get
armPose7Set
armPoseToEePose
armPublishJointPositionCommand
armShowButtonState
armedThreshold
assert
assertNo
assumeAimedPose
assumeAny3dGrasp
assumeBackScanningPose
assumeBeeHome
assumeBest3dGrasp
assumeCalibrationPose
assumeCrane1
assumeCurrent3dGrasp
assumeDeliveryPose
assumeFacePose
assumeHandingPose
assumeLastPickOrientation
assumePose
assumeShrugPose
assumeWinningGgAndXyInLocalPose
assumeZOfPoseWord
banditGetPickMode
banditSetPickMode
beeHome
beep
beginHeightLearning
bg
bgRAM
blankFace
blink_arms
blink_breathe_delta
blink_breathe_halo
blink_deltaT
blink_easeT
blink_lightshow
blink_lightshow_scoped_continue
blink_lightshow_scoped_load
blink_scale
blink_sonar_swoop
blink_sonar_times
blink_swoopT
blink_times
blur
bringUpAllNonessentialSystemsBring up systems that are not important for streaming data.
buildClassSimilarityMatrixBuilds the matrix of gradients of the current class labels.
buildClassSimilarityMatrixFromDensityBuilds the matrix of gradients of the current class labels.
c3dPoseBase
cB
cP
cSB
calibrateBundleHeight
calibrateCameraAToB
calibrateDeluxeWhen you are confident with calibrateRGBCameraIntrinsics, this is a good all-in-one.
calibrateFromZDiscrepancy
calibrateFullKappasFind distortion for new calibration.
calibrateFullMusFind magnification for new calibration.
calibrateGripper
calibrateHeightReticles
calibrateHeightReticlesSetAll
calibrateMagnification
calibrateNextCameraOffsetFind the offset of the next (second) camera from the current (first) camera and use this to set the offset of the next camera.
calibrateOnBundleOneDimension
calibrateOnBundleOneDimensionJointHeights
calibrateRGBCameraIntrinsicsCalibrate the RGB camera; start from a position near the table as we set the table height first. Make sure you've set up the magic circle with magic paper
calibrateRGBCameraIntrinsicsPointRun the old wrist camera calibration, that uses a single black dot to calibrate. You should use the new light field calibration with magic paper instead.
calibrateSetLightingModellearn a one color lighting model with the lens array.
calibrateVanishingPointReticle
calibrateVanishingPointReticleMultiSample
cameraCenterX
cameraCenterY
cameraCreateCreates a new camera, usage in kinect2.back
cameraCropUpperLeftCornerX
cameraCropUpperLeftCornerY
cameraExposure
cameraFitHyperbolic
cameraFitQuadratic
cameraGain
cameraGetCalibrationMode
cameraGetCurrentHeightReticleX
cameraGetCurrentHeightReticleY
cameraGetIdxMagX
cameraGetIdxMagY
cameraGetTransformMatrix
cameraGetVpX
cameraGetVpY
cameraK2IRConfig
cameraK2QHDConfig
cameraKappaX
cameraKappaY
cameraMuX
cameraMuY
cameraName
cameraPrintParams
cameraR00
cameraR01
cameraR10
cameraR11
cameraSetCalibrationMode
cameraSetCurrentHeightReticleX
cameraSetCurrentHeightReticleY
cameraSetIdxMagX
cameraSetIdxMagY
cameraSetTransformMatrix
cameraSetVpX
cameraSetVpY
cameraWhiteBalanceBlue
cameraWhiteBalanceGreen
cameraWhiteBalanceRed
cameraWristConfig
cameraZeroNonLinear
car
castToInteger
catPlayLoop
catScan5
catScan5CacheBackgrounds
catScan5InputPileTakeScene
catScan5LoadBackgrounds
catScan5LoadInputBg
catScan5LoadInputBgDisk
catScan5LoadInputBgRAM
catScan5LoadPlayBg
catScan5LoadPlayBgDisk
catScan5LoadPlayBgRAM
catScan5NumVarianceTrials
catScan5OutputPileTakeScene
catScan5PlayTakeScene
catScan5SaveInputBgDisk
catScan5SaveInputBgRAMsaves the current observed map to the input workspace background variable.
catScan5SavePlayBgDisk
catScan5SavePlayBgRAMsaves the current observed map to the play workspace background variable.
catScan5SwapInputOutput
catScan5SwapInputOutputDisk
catScan5SwapInputOutputRAM
catScan5UpdateInputBg
catScan5UpdatePlayBg
catScan5VarianceTrial
catScan5VarianceTrialAuditClassNames
catScan5VarianceTrialAutolabelClassNames
catScan5VarianceTrialBatchTime
catScan5VarianceTrialCalculateAllClassesAccuracy
catScan5VarianceTrialCalculateConfigurationAccuracy
catScan5VarianceTrialCalculatePoseVariances
catScan5VarianceTrialName
catScan5VarianceTrialThisTime
catScan5VarianceTrialZ
catScan5VarianceTrials
catScan5VarianceTrialsZ
catScan_dropHeight
cdr
ceil
centerHead
changeAnimationState
changeTargetClassToClosestBlueBox
changeToCounterTable
changeToHeight
changeToHeight0
changeToHeight1
changeToHeight2
changeToHeight3
changeToPantryTable
checkAndCountGrasp
checkGrasp
checkIfJammed
circleGait
circleGaitRingDrive
circleGaitRingOnce
circleGaitRingThrice
circleGaitSet
circleGaitSetRing
classRangeMapFromRegister1
clearAllRangeMaps
clearBlueBoxMemories
clearClass3dGrasps
clearClassLabels
clearConsolePrints a lot of newlines to the console to clear it.
clearData
clearIkMapReset the IK Map so that every cell is good.
clearMapForPatrol
clearStack
clearStackIntoMappingPatrol
clearStacks
clearStreamBuffers
closeGripper
collapseStack
collectMoreCrops
collectMoreStreams
comeToHover
comeToHoverA
comeToStop
comeToStopA
commandOtherArm
continueHeightLearning
continuousServo
continuousServoA
continuousServoL
continuousServoPrep
copyIkMapToHeightIdxCopy the ik map to the height index.
cornellMugsOnTables
cos
countGrasp
createArmPose
createCachedClassifierFromClassLabels
createEEPose
cruisingSpeed
currentBackgroundMapPushes the current background map on the stack.
currentIKBoundaryMode
currentIKFastMode
currentIKMode
currentIKModeString
currentJointWord
currentObservedMapPushes the current observed map on the stack.
currentPose
currentPoseToWord
currentPredictedMapPushes the current predicted map on the stack.
currentScenePushes the current scene on the stack.
currentSceneFixationMode
currentTableZ
cw_clearWorkspace
cw_clearWorkspace_max
cw_flick
cw_servo_for_flick
cw_sweepToGreen
cw_test
cw_tri_flick
cw_viewIsClear
cw_viewIsClear_discrepancyThresh
cw_viewIsClear_old
cw_viewIsClear_squareMeterDiscrepancyThresh
cw_workspaceIsClear
darkServo
darkServoA
darkServoB
dataDirectory
dateString
deactivateSensorStreamingStop streaming data.
decMx
decMy
decrementCamera
decrementCurrentCornellTable
decrementGraspGear
decrementTargetClass
decrementTargetInstanceSprite
decrementTargetMasterSprite
defineStore a new compound word with specified body, description, and name. Usage: <compound word> < help text > < name > define.
deliverObject
deliverTargetBoxMemory
deliverTargetObject
demoRelativeTransformations
density
densityA
departureSpeed
derefTakes a symbol word argument from the data stack and pushes its current value back onto the data stack. Usage: < symbol word > deref -> < value >
derefToTruthTakes a symbol word argument from the data stack and pushes its current value back onto the data stack. Usage: < symbol word > deref -> < value >
destroyObjectInEndEffector
destroyTargetInstanceSprite
detectionSpin
diagnosticRelativePose
digitalIOCommand
disableDiskStreaming
disableRobot
dislodgeEndEffectorFromTable
divide
doUntilAtCurrentPosition
dogAccelerometerX
dogAccelerometerY
dogAccelerometerZ
dogBackTouchF
dogBackTouchM
dogBackTouchR
dogBark
dogBeg
dogChinSensor
dogChirpSin
dogChirpSquare
dogComeToStop
dogComeToStopA
dogCreatePose
dogDecrementPackMember
dogDispersePack
dogDistanceChest
dogDistanceFarSnout
dogDistanceNearSnout
dogDoPack
dogFocusedIP
dogFocusedMember
dogFormatImageDefault
dogGetImage
dogGetIndicators
dogGetSensoryMotorStates
dogHeadPanBy
dogHeadPanDGainBy
dogHeadPanDGainDown
dogHeadPanDGainTo
dogHeadPanDGainUp
dogHeadPanDown
dogHeadPanIGainBy
dogHeadPanIGainDown
dogHeadPanIGainTo
dogHeadPanIGainUp
dogHeadPanPGainBy
dogHeadPanPGainDown
dogHeadPanPGainTo
dogHeadPanPGainUp
dogHeadPanTo
dogHeadPanUp
dogHeadTiltBy
dogHeadTiltDGainBy
dogHeadTiltDGainDown
dogHeadTiltDGainTo
dogHeadTiltDGainUp
dogHeadTiltDown
dogHeadTiltIGainBy
dogHeadTiltIGainDown
dogHeadTiltIGainTo
dogHeadTiltIGainUp
dogHeadTiltPGainBy
dogHeadTiltPGainDown
dogHeadTiltPGainTo
dogHeadTiltPGainUp
dogHeadTiltTo
dogHeadTiltUp
dogHeadTouch
dogIncrementFocusedMember
dogInitial
dogIntendedEarL
dogIntendedEarR
dogIntendedLedBFC
dogIntendedLedBFW
dogIntendedLedBMC
dogIntendedLedBMW
dogIntendedLedBRC
dogIntendedLedBRW
dogIntendedLedF1
dogIntendedLedF10
dogIntendedLedF11
dogIntendedLedF12
dogIntendedLedF13
dogIntendedLedF14
dogIntendedLedF2
dogIntendedLedF3
dogIntendedLedF4
dogIntendedLedF5
dogIntendedLedF6
dogIntendedLedF7
dogIntendedLedF8
dogIntendedLedF9
dogIntendedLedHC
dogIntendedModeB
dogIntendedModeG
dogIntendedModeR
dogLay
dogLayDown
dogLegLF1By
dogLegLF1DGainBy
dogLegLF1DGainDown
dogLegLF1DGainTo
dogLegLF1DGainUp
dogLegLF1Down
dogLegLF1IGainBy
dogLegLF1IGainDown
dogLegLF1IGainTo
dogLegLF1IGainUp
dogLegLF1PGainBy
dogLegLF1PGainDown
dogLegLF1PGainTo
dogLegLF1PGainUp
dogLegLF1To
dogLegLF1Up
dogLegLF2By
dogLegLF2DGainBy
dogLegLF2DGainDown
dogLegLF2DGainTo
dogLegLF2DGainUp
dogLegLF2Down
dogLegLF2IGainBy
dogLegLF2IGainDown
dogLegLF2IGainTo
dogLegLF2IGainUp
dogLegLF2PGainBy
dogLegLF2PGainDown
dogLegLF2PGainTo
dogLegLF2PGainUp
dogLegLF2To
dogLegLF2Up
dogLegLF3By
dogLegLF3DGainBy
dogLegLF3DGainDown
dogLegLF3DGainTo
dogLegLF3DGainUp
dogLegLF3Down
dogLegLF3IGainBy
dogLegLF3IGainDown
dogLegLF3IGainTo
dogLegLF3IGainUp
dogLegLF3PGainBy
dogLegLF3PGainDown
dogLegLF3PGainTo
dogLegLF3PGainUp
dogLegLF3To
dogLegLF3Up
dogLegLH1By
dogLegLH1DGainBy
dogLegLH1DGainDown
dogLegLH1DGainTo
dogLegLH1DGainUp
dogLegLH1Down
dogLegLH1IGainBy
dogLegLH1IGainDown
dogLegLH1IGainTo
dogLegLH1IGainUp
dogLegLH1PGainBy
dogLegLH1PGainDown
dogLegLH1PGainTo
dogLegLH1PGainUp
dogLegLH1To
dogLegLH1Up
dogLegLH2By
dogLegLH2DGainBy
dogLegLH2DGainDown
dogLegLH2DGainTo
dogLegLH2DGainUp
dogLegLH2Down
dogLegLH2IGainBy
dogLegLH2IGainDown
dogLegLH2IGainTo
dogLegLH2IGainUp
dogLegLH2PGainBy
dogLegLH2PGainDown
dogLegLH2PGainTo
dogLegLH2PGainUp
dogLegLH2To
dogLegLH2Up
dogLegLH3By
dogLegLH3DGainBy
dogLegLH3DGainDown
dogLegLH3DGainTo
dogLegLH3DGainUp
dogLegLH3Down
dogLegLH3IGainBy
dogLegLH3IGainDown
dogLegLH3IGainTo
dogLegLH3IGainUp
dogLegLH3PGainBy
dogLegLH3PGainDown
dogLegLH3PGainTo
dogLegLH3PGainUp
dogLegLH3To
dogLegLH3Up
dogLegRF1By
dogLegRF1DGainBy
dogLegRF1DGainDown
dogLegRF1DGainTo
dogLegRF1DGainUp
dogLegRF1Down
dogLegRF1IGainBy
dogLegRF1IGainDown
dogLegRF1IGainTo
dogLegRF1IGainUp
dogLegRF1PGainBy
dogLegRF1PGainDown
dogLegRF1PGainTo
dogLegRF1PGainUp
dogLegRF1To
dogLegRF1Up
dogLegRF2By
dogLegRF2DGainBy
dogLegRF2DGainDown
dogLegRF2DGainTo
dogLegRF2DGainUp
dogLegRF2Down
dogLegRF2IGainBy
dogLegRF2IGainDown
dogLegRF2IGainTo
dogLegRF2IGainUp
dogLegRF2PGainBy
dogLegRF2PGainDown
dogLegRF2PGainTo
dogLegRF2PGainUp
dogLegRF2To
dogLegRF2Up
dogLegRF3By
dogLegRF3DGainBy
dogLegRF3DGainDown
dogLegRF3DGainTo
dogLegRF3DGainUp
dogLegRF3Down
dogLegRF3IGainBy
dogLegRF3IGainDown
dogLegRF3IGainTo
dogLegRF3IGainUp
dogLegRF3PGainBy
dogLegRF3PGainDown
dogLegRF3PGainTo
dogLegRF3PGainUp
dogLegRF3To
dogLegRF3Up
dogLegRH1By
dogLegRH1DGainBy
dogLegRH1DGainDown
dogLegRH1DGainTo
dogLegRH1DGainUp
dogLegRH1Down
dogLegRH1IGainBy
dogLegRH1IGainDown
dogLegRH1IGainTo
dogLegRH1IGainUp
dogLegRH1PGainBy
dogLegRH1PGainDown
dogLegRH1PGainTo
dogLegRH1PGainUp
dogLegRH1To
dogLegRH1Up
dogLegRH2By
dogLegRH2DGainBy
dogLegRH2DGainDown
dogLegRH2DGainTo
dogLegRH2DGainUp
dogLegRH2Down
dogLegRH2IGainBy
dogLegRH2IGainDown
dogLegRH2IGainTo
dogLegRH2IGainUp
dogLegRH2PGainBy
dogLegRH2PGainDown
dogLegRH2PGainTo
dogLegRH2PGainUp
dogLegRH2To
dogLegRH2Up
dogLegRH3By
dogLegRH3DGainBy
dogLegRH3DGainDown
dogLegRH3DGainTo
dogLegRH3DGainUp
dogLegRH3Down
dogLegRH3IGainBy
dogLegRH3IGainDown
dogLegRH3IGainTo
dogLegRH3IGainUp
dogLegRH3PGainBy
dogLegRH3PGainDown
dogLegRH3PGainTo
dogLegRH3PGainUp
dogLegRH3To
dogLegRH3Up
dogMorse
dogMotorsOff
dogMotorsOn
dogMouthBy
dogMouthDGainBy
dogMouthDGainDown
dogMouthDGainTo
dogMouthDGainUp
dogMouthDown
dogMouthIGainBy
dogMouthIGainDown
dogMouthIGainTo
dogMouthIGainUp
dogMouthPGainBy
dogMouthPGainDown
dogMouthPGainTo
dogMouthPGainUp
dogMouthTo
dogMouthUp
dogNeckBy
dogNeckDGainBy
dogNeckDGainDown
dogNeckDGainTo
dogNeckDGainUp
dogNeckDown
dogNeckIGainBy
dogNeckIGainDown
dogNeckIGainTo
dogNeckIGainUp
dogNeckPGainBy
dogNeckPGainDown
dogNeckPGainTo
dogNeckPGainUp
dogNeckTo
dogNeckUp
dogNeedsReinit
dogPawLF
dogPawLH
dogPawRF
dogPawRH
dogPublishSnout
dogPushIntendedGain
dogPushIntendedPose
dogPushTrueGain
dogReplaceWristImageWithSnoutImage
dogSendIndicators
dogSendMotorState
dogSendPack
dogSendToneSin
dogSendToneSquare
dogSetFocusedMember
dogSetGainGridSize
dogSetIntendedEarL
dogSetIntendedEarR
dogSetIntendedGain
dogSetIntendedLedBFC
dogSetIntendedLedBFW
dogSetIntendedLedBMC
dogSetIntendedLedBMW
dogSetIntendedLedBRC
dogSetIntendedLedBRW
dogSetIntendedLedF1
dogSetIntendedLedF10
dogSetIntendedLedF11
dogSetIntendedLedF12
dogSetIntendedLedF13
dogSetIntendedLedF14
dogSetIntendedLedF2
dogSetIntendedLedF3
dogSetIntendedLedF4
dogSetIntendedLedF5
dogSetIntendedLedF6
dogSetIntendedLedF7
dogSetIntendedLedF8
dogSetIntendedLedF9
dogSetIntendedLedHC
dogSetIntendedModeB
dogSetIntendedModeG
dogSetIntendedModeR
dogSetIntendedPose
dogSetPackSize
dogSetPoseGridSize
dogSetTurnSpeed
dogSetWalkSpeed
dogSignalReinitDone
dogSit
dogSitDown
dogSocketDidConnect
dogStand
dogStandUp
dogStay
dogStop
dogStopWalkTurn
dogStretch
dogTailPanBy
dogTailPanDGainBy
dogTailPanDGainDown
dogTailPanDGainTo
dogTailPanDGainUp
dogTailPanDown
dogTailPanIGainBy
dogTailPanIGainDown
dogTailPanIGainTo
dogTailPanIGainUp
dogTailPanPGainBy
dogTailPanPGainDown
dogTailPanPGainTo
dogTailPanPGainUp
dogTailPanTo
dogTailPanUp
dogTailTiltBy
dogTailTiltDGainBy
dogTailTiltDGainDown
dogTailTiltDGainTo
dogTailTiltDGainUp
dogTailTiltDown
dogTailTiltIGainBy
dogTailTiltIGainDown
dogTailTiltIGainTo
dogTailTiltIGainUp
dogTailTiltPGainBy
dogTailTiltPGainDown
dogTailTiltPGainTo
dogTailTiltPGainUp
dogTailTiltTo
dogTailTiltUp
dogTrueEarL
dogTrueEarR
dogTrueLedBFC
dogTrueLedBFW
dogTrueLedBMC
dogTrueLedBMW
dogTrueLedBRC
dogTrueLedBRW
dogTrueLedF1
dogTrueLedF10
dogTrueLedF11
dogTrueLedF12
dogTrueLedF13
dogTrueLedF14
dogTrueLedF2
dogTrueLedF3
dogTrueLedF4
dogTrueLedF5
dogTrueLedF6
dogTrueLedF7
dogTrueLedF8
dogTrueLedF9
dogTrueLedHC
dogTrueModeB
dogTrueModeG
dogTrueModeR
dogTurnRadians
dogTurnSeconds
dogVoiceClear
dogVoiceInit
dogVoiceSing
dogVoiceTetraTrackWarbleNotes
dogVoiceTimeTrackWarbleSinNotes
dogVoiceTimeTrackWarbleSquareNotes
dogVoiceToPCM
dogVoiceTrackTone
dogVoiceTrackWarble
dogVoiceTrackWarbleNotes
dogWalkMeters
dogWalkSeconds
dogWarbleSin
dogWarbleSquare
dogWhistle
dogWriteIntendedFromTrue
downsampleIrScan
drand48
drawMapRegisters
dsr
ducksInARow
dup
eePoseApplyRelativePoseTo
eePoseGetPoseRelativeTo
eePosePX
eePosePY
eePosePZ
eePoseQW
eePoseQX
eePoseQY
eePoseQZ
eePoseToArmPose
eeRange
eeRangeMaxValue
effortThresh
eighthTurn
einSoftwareVersion
enableDiskStreaming
enableRobot
endArgs
endStackCollapse
endStackCollapseNoop
equals
evalTakes a string from the data stack; evaluates the string as a back program. Usage: < string > eval -> whatever the program does
exec
executePreparedGrasp
executeStack
executionModeInstant
executionModeStep
exp
expand
exportDoc
exportWords
faceAnimationFindEmotions
faceAnimationGetMode
faceAnimationGetRate
faceAnimationLoadAllEmotions
faceAnimationLoadEmotion
faceAnimationSetEmotionValue
faceAnimationSetMode
faceAnimationSetRate
fakeBBWidth
fasterRasterScanningSpeed
fetch
fileCloseClose the file. If you forget to do this, it will be closed automatically when the word is deallocated.
fileOpenInputOpen an input file for reading; takes a file name as an argument.
fileOpenOutputOpen an output file for writing; takes a file name as an argument.
fileReadAllRead the contents of the file into a string and push it on the data stack.
fileReadLineRead one line from the file into a string and leave it on the data stack.
fileWriteWrite a string to the file. Takes a file and a word, which is written. if it is a string, writes it as-is. Otherwise writes it with repr.
fileWriteLineWrite a line to the file. Takes a file and a word, which is written. if it is a string, writes it as-is. Otherwise writes it with repr.
fillClearanceMap
fillIkMapFill the IK map for the current range starting at the i and j and height on the stack.
fillIkMapAtCurrentHeightFill the IK map using data at the current EE height. We run at height 2 usually.
fillIkMapAtHeightsFill the IK map at different heights.
fillIkMapFromCachedHeightIdxFill the IK map by taking the height idx from the cache.
fillIkMapFromCachedHeightsFill the IK map by taking the and of the result at all the different heights.
filterBoxMemories
findBestOfFourGraspsUsingMemory
fixCameraLightingFix the camera lighting. Usage: <exposure> <gain> <red> <green> <blue> fixCameraLighting. You can see the current values with cameraGain, cameraExposure, cameraWhiteBalanceRed, cameraWhiteBlanaceGreen, cameraWhiteBalanceBlue.
fixCameraLightingNoUpdate
fixCameraLightingToAutomaticParametersFix the camera lighting using autogain. The camera parameters will first adjust automatically, then ein will fix them to the automatically adjusted values.
fixCameraLightingToObservedValues
floor
focusedClassLabel
focusedGraspLearning
focusedGraspLearningA
followPath
fullImpulse
fullRender
gaitAnchoredTranslation
gauntletCrystalConfig
gauntletCrystalConfigOffset
geq
getSpeed
goClassifyBlueBoxes
goFindBlueBoxes
goHomeGo to the home position, wait until at current position, and put the joints in a good state.
goToLastPickPose
goToPrePickPose
gradientServo
gradientServoA
gradientServoB
gradientServoHardMaxIterations
gradientServoIfBlueBoxes
gradientServoMode
gradientServoPrep
gradientServoSoftMaxIterations
gradientServoTakeClosest
graspBackoffDistance
gridSize
gripperMaskThresh
guiCustom1
guiHideAll
guiShowAll
halfImpulse
handCameraOffset
handEndEffectorOffset
happyFace
helpReturn help text for a word. Takes a compound word as an argument with a single word inside. Usage: ( word ) help.
histgramAllExamplesFocusedClass
histogramDetection
histogramDetectionIfBlueBoxes
histogramDetectionInit
histogramDetectionNormalize
histogramDetectionReport
histogramExampleAsFocusedClass
hover
hoverA
hoverThreshold
hundredthImpulse
hypotrochoidGait
hypotrochoidGaitSet
hypotrochoidGaitSetStar
hypotrochoidGaitStarDrive
iRCalibrationSpeed
idler
ifGrasp
ifNoGrasp
iftTakes two words on the stack, executes the second word if the first word is true. For example, " ( "hello" print ) 1 ift" will print hello, while " ( "hello" print ) 0 ift" will not do it.
ifteIf then else takes two compound words and a condition and does the first one if the condition is true and the second if it is false. Usage: 0 ( "condition was true" print ) ( "condition was false" print ) ifte
ikMapEndHeight
ikMapStartHeight
ikModeIkFast
ikModeIkFastDebug
ikModeService
imageStreamBufferLoadCurrent
import
incMx
incMy
incrementCamera
incrementCurrentCornellTable
incrementGraspGear
incrementImageStreamBufferIncrements the current location in the image stream buffer. Loads it into memory and kicks it out when done.
incrementImageStreamBufferNoLoadIncrements the current location in the image stream buffer. Does not load the image into memory, but kicks it out when done.
incrementImageStreamBufferNoLoadNoKickIncrements the current location in the image stream buffer. Does not load the image into memory or kick it out when done.
incrementTargetClass
incrementTargetInstanceSprite
incrementTargetMasterSprite
initCumulativeGripperMask
initDepthScan
initializeAndFocusOnNewClass
initializeAndFocusOnTempClass
initializeConfig
initializeKdlTree
initializeMap
inputPileWorkspace
integrateImageStreamBufferCrops
integrateImageStreamBufferServoImages
integrateRangeStreamBuffer
interlaceBottom
interlaceTop
interpolatePath
irFixPick
isAtCurrentPosition
isGripperGripping
iterateIsbAndAccumulateHeightImages
langle
leftOrRightArm
lensArrayGap
lensArrayPhaseX
lensArrayPhaseY
lensArraySize
lensArraySpacingX
lensArraySpacingY
lensArrayStrength
lensArrayStrengthX
lensArrayStrengthY
leq
liftArm
lightsOff
lightsOn
loadCalibration
loadCalibrationRaw
loadConfig
loadDefaultCalibration
loadGripperMask
loadIkMap
loadIkMapAtHeight
loadMarginalGraspMemory
loadMarginalHeightMemory
loadPriorGraspMemoryAnalytic
loadPriorGraspMemoryUniform
loadPriorHeightMemoryAnalytic
loadPriorHeightMemoryUniform
loadSampledGraspMemory
loadSampledHeightMemory
loadTargetClassRangeMapIntoRegister1
localXDown
localXUp
localYDown
localYUp
localZDown
localZUp
lock3dGraspBase
lockTargetIfBlueBoxes
magCalDelta
magCalGetter
magCalMinVarImprovement
magCalSetter
magCalSteps
map
mapAndPick
mapAndPickL
mapClosestBlueBox
mapEmptySpace
mapFreeSpacePixelSkirt
mapGrayBoxPixelSkirtCols
mapGrayBoxPixelSkirtRows
mapGrayBoxPixelWaistCols
mapGrayBoxPixelWaistRows
mapLocal
mapSearchFenceXMax
mapSearchFenceXMin
mapSearchFenceYMax
mapSearchFenceYMin
mapServo
mapWaypointsMaps objects at locations specified by EePoseWords underneath.
mappingPatrol
mappingPatrolA
mappingServoTimeout
markMapAsCompleted
max
measureTime
measureTimeA
measureTimeEnd
measureTimeInit
measureTimeInitSinceStart
measureTimeSetPeriod
measureTimeSinceStart
measureTimeStart
min
minus
mkdir
mkdirs
mostRecentUntabledZ
moveAndStreamAimedShot
moveArmToPoseWord
moveCropToCenter
moveCropToCenterVanishingPoint
moveCropToCenterVanishingPointSlideHeightReticles
moveCropToProperValue
moveCropToProperValueNoUpdate
moveEeToPoseWord
moveJointsByAngles
moveJointsToAngles
moveObjectBetweenObjectAndObject
moveObjectToObjectByAmount
moveObjectToPose
moveTargetObjectToPose
moveToCurrentCornellTable
moveToEEPose
moveToMappingHeight
moveToNextMapPosition
moveToOutputPile2
moveToOutputPile2MaxPicks
moveToRegister
moveToRegister1
moveToRegister2
moveToRegister3
moveToRegister4
moveToRegister5
moveToRegister6
moveToSetVanishingPointHeightHigh
moveToSetVanishingPointHeightLow
moveToTargetZAndGrasp
moveToTargetZAndGraspA
movingThreshold
neutralFace
neutralScan
neutralScanA
neutralScanB
neutralScanH
next
nod
noop
notPops a word; pushes a 0 or a 1 depending on its truth value.
now
numBlueBoxes
numCameras
numClasses
oB
oP
oSB
oXDown
oXUp
oYDown
oYUp
oZDown
oZUp
observedCameraExposure
observedCameraFlip
observedCameraGain
observedCameraMirror
observedCameraWhiteBalanceBlue
observedCameraWhiteBalanceGreen
observedCameraWhiteBalanceRed
observedCameraWindowX
observedCameraWindowY
openGripper
openGripperInt
or
outputPileWorkspace
paintReticles
panCoreSteps
pauseAndReset
pauseCoreSeconds
pauseStackExecution
perturbPosition
perturbPositionScale
phasedArrayApertureWidthCells
phasedArrayGain
phasedArrayGap
phasedArrayPhase
phasedArrayPlaneScale
phasedArrayWavelength
phasedArrayZoneWidthCells
photoSpin
pi
pickAllBlueBoxes
pickClosestBlueBox
pickFlushFactor
pickFocusedClass
pickFromInputPile2
pickObjectUnderEndEffector
pileSwitchThreshold
pixelGlobalTest
pixelServo
pixelServoA
pixelServoPickUnderVanishingPoint
pixelServoPutGripperUnderVanishingPoint
pixelServoPutVanishingPointUnderGripper
placeHeldObjectOnObject
placeObjectInDeliveryZone
placeObjectInEndEffector
planCommandJointsAtRateSpin
planToPointCraneFourStroke
planToPointCraneThreeStroke
planToPointCraneThreeStrokeOpenJointHyperPlanner
playLoop
playLoopL
playLoopP
playWithObject
playWorkspace
plus
pointToClearanceMap
pop
populateStreamBuffers
pow
preAnnotateCenterGrasp
preAnnotateOffsetGrasp
prepareForAndExecuteGraspFromMemory
prepareForAndExecuteGraspFromMemoryLearning
prepareForGraspFromMemory
prepareForSearch
prepareToApplyGraspFilterFor1
prepareToApplyGraspFilterFor2
prepareToApplyGraspFilterFor3
prepareToApplyGraspFilterFor4
pressAndGrasp
pressAndGraspA
pressAndRelease
pressAndReleaseA
pressDown
pressUntilEffort
pressUntilEffortA
pressUntilEffortAllInOnePush down until there is effort sensed; top level word that can be called all in one.
pressUntilEffortComboPress down until effort is larger than a threshold. Pushes down once more quickly with a coarse press, then does a fine-grained press (to unwined the springs), so at the end you are lightly touching the surface.
pressUntilEffortInitInitialize parameters for pressUntilEffort.
pressUntilEffortOrTwist
pressUntilEffortOrTwistA
pressUntilEffortOrTwistInit
pressUntilEffortStart
printPop a word from the stack and print it to the Ein console.
printClassLabels
printJointAngles
printMencoderCommand
printStacks
printState
prodPops a compound word; multiplies the entries; pushes the result. Usage: ( 1 1 1 ) prod -> 1.
publishCommandsMode
publishCommandsOffDo not publish commands to the robot; useful if someone else (like MoveIt) is going to move the robot.
publishCommandsOnTurn on publishing movement commands and other changing commands (lights, sonar).
publishImageFileToFace
publishImageToFace
publishRecognizedObjectArrayFromBlueBoxMemory
publishState
publishWristViewToFace
pursuitProximity
pushClassLabels
pushClassLabelsReport
pushCurrentJointAngle
pushCurrentJointAngles
pushHelpPush help text for the word on the data stack.
pushState
putCameraOverPhotoPin
quarterImpulse
quarterTurn
quiveringPalm
rangle
rasterScanningSpeed
rayBufferInit
rayBufferPopulateFromImageBuffer
rayBufferPopulateFromRangeBuffer
rayBufferSaveRaw
rayBufferSize
recordAllBlueBoxes
recordAllExamplesFocusedClass
recordExampleAsFocusedClass
recordGraspZ
recordHeightLearnTrial
recordPostTargetLock
recordPreTargetLock
registerEffort
registerEffortA
registerWrench
registerWrenchA
reinitRangeMaps
reloadCamera
reloadClassLabels
renameFocusedClass
repeatHalo
replaceBlueBoxesWithFocusedClass
replaceBlueBoxesWithHistogramWinner
replicateWord
reprTakes an argument from the data stack pushes the string representation onto the data stack. Usage: < word > repr -> string
resetAccumulatedDensity
resetAccumulatedStreamImage
resetAerialGradientTemporalFrameAverage
resetAuxiliary
resetAveragedWrenchNorm
resetCurrentFocusedClass
resetTemporalMap
resetW1ThreshToDefault
restoreIkShare
retrainVocabOff
retrainVocabOn
returnObject
reverseCompound
reversePath
rewindImageStreamBuffer
rewindImageStreamBufferNLNK
rgbScan
robotSerial
robotSoftwareVersion
rock
rockA
rockB
rockC
rockD
rockDA
rockInit
roll
sB
sP
sadFace
sampleHeight
save3dGrasps
saveAccumulatedStreamToServoImage
saveAerialGradientMap
saveCalibration
saveCalibrationToClass
saveConfig
saveCurrentClassDepthAndGraspMaps
saveGripperMask
saveIkMap
saveIkMapAtHeight
saveRegister1
saveRegister2
saveRegister3
saveRegister4
scanCentered
scanGroup
scanLoop
scanObjectScans an object, including the IR scan.
scanObjectFastScans an object without an IR scan, and with an annotated grasp.
scanObjectSceneScans a stack of objects in stream mode with an annotated 3d grasps in stack.
scanObjectStreamScans an object in stream mode with an annotated grasp.
scanObjectStreamAnnotatedScans an object in stream mode with an annotated grasp.
scanObjectStreamWaypointsScans a stack of objects in stream mode with an annotated grasps in stack.
scanObjectStreamWaypoints3dScans a stack of objects in stream mode with an annotated 3d grasps in stack.
scanObjectStreamWaypoints3dNoPickScans a stack of objects in stream mode with an annotated 3d grasps in stack.
scanObjectStreamWaypointsIRScans a stack of objects in stream mode using IR raster scan to infer grasp points.
scan_IRheight
scan_addBar3dGrasp
scan_catPickLimit
scan_catScanLimit
scan_catScanObjectName
scan_findNewComponent
scan_findObjectAfterDrop
scan_findObjectAfterDrop_old
scan_isNewComponent
scan_restoreFromBars
scan_swapToBars
scan_thread_alterface
scan_threaded_catScan_aFace
scan_threaded_catScan_noFace
scan_threaded_catScan_wristFace
sceneAddDiscrepantPredictedToObserved
sceneAddPredictedFocusedObject
sceneAddPredictedObject
sceneAddPredictedToObserved
sceneAngularApertureCols
sceneAngularApertureRows
sceneAngularBaffleCols
sceneAngularBaffleRows
sceneBackgroundMapTakes a scene on the stack and returns its background map.
sceneCellCountThreshold
sceneCellWidth
sceneClearDepthStack
sceneClearObservedMap
sceneClearPredictedObjects
sceneCoalesceClassHarmonics
sceneComposePredictedMap
sceneComposePredictedMapThreshed
sceneComputeProbabilityOfMap
sceneComputeScore
sceneCopyGaussianMapTakes a gaussian map on the stack and performs a deep copy, leaving a new gaussian map on the stack.
sceneCopyObservedToReprojectionBuffer
sceneCopySceneTakes a scene on the stack and performs a deep copy, leaving a new scene on the stack.
sceneCountDiscrepantCells
sceneCropToDiscrepantRegion
sceneDensityFromDiscrepancy
sceneDepthPatchHalfWidth
sceneDepthStackLoadAndCropRaw
sceneDepthStackLoadAndMarginalizeRaw
sceneDepthStackLoadAndMinRaw
sceneDepthStackLoadAndPushRaw
sceneDepthStackSavePngRaw
sceneDepthStackSaveRaw
sceneDiscrepancyMode
sceneDiscrepancySearchDepth
sceneExponentialAverageObservedIntoBackground
sceneFabricateIdealBlockModel
sceneFlattenUncertainZWithDepthStack
sceneGetAnnotatedClassName
sceneGetClassificationMode
sceneGetFixationMode
sceneGetPredictedClassName
sceneGrabDiscrepantCropAsClass
sceneGrabDiscrepantCropAsClassDefaultThresh
sceneHighPrecisionBeforeAfterDiffOfLogs
sceneInit
sceneInitDefaultBackgroundMapCheck if the map exists; otherwise create a default one.
sceneInitDimensions
sceneInitFromEePose
sceneInitFromEePoseScale
sceneInitFromEePoseScaleDimensions
sceneInitRegisterMax
sceneInitRegisterZero
sceneInitSmall
sceneIsNewConfiguration
sceneLoadBackgroundMap
sceneLoadDiscrepancyMap
sceneLoadFocusedObjectModel
sceneLoadFocusedSceneModel
sceneLoadGaussianMapTakes a string, loads the gaussian map and puts it on the stack.
sceneLoadLightingModelFromGaussianMapFile
sceneLoadMonochromeBackground
sceneLoadObjectModelLoad the object model. Takes an object name as argument, which must be a directory name in the objects directory.
sceneLoadObservedMap
sceneLoadScene
sceneLoadSceneRaw
sceneMapSceneObject
sceneMarginalizeDepthStackIntoRegister
sceneMinDepthStackIntoRegister
sceneMinIntoRegister
sceneMinSigmaSquared
sceneNumPredictedObjects
sceneObservedMapTakes a scene on the stack and returns its observed map.
scenePredictBestObject
scenePredictFocusedObject
scenePredictedMapTakes a scene on the stack and returns its predicted map.
scenePredictedMapThresh
scenePredictedMapThreshDefault
scenePushAnchorPose
scenePushAverageCrCbSigmaSquared
scenePushDepthStackSize
scenePushFocusedClassModelArea
scenePushFocusedClassTotalDiscrepancy
scenePushLightingModel
scenePushNumSceneObjects
scenePushOntoDepthStack
scenePushPixelOfMinStackVariance
scenePushPixelOfMinVariance
scenePushSceneObjectLabel
scenePushSceneObjectPose
scenePushTotalDiscrepancy
scenePushTotalDiscrepancyMagnitude
scenePushTotalLogDiscrepancy
scenePushTotalRelevantOneMinusDiscrepancy
sceneRecalculateObservedMusAndSigmas
sceneRecallDepthStackIndex
sceneRecallFromRegister
sceneRegularizeSceneL2
sceneRenderBackgroundMap
sceneRenderDiscrepancy
sceneRenderObservedMap
sceneRenderPredictedMap
sceneRenderScene
sceneRenderTest
sceneRenderZ
sceneSaveBackgroundMap
sceneSaveDiscrepancyMap
sceneSaveFocusedSceneModel
sceneSaveGaussianMapTakes a string and saves a gaussian map to that string.
sceneSaveLightingModelToGaussianMapFile
sceneSaveObservedMap
sceneSaveObservedMapImage
sceneSaveScene
sceneSaveSceneAbsolute
sceneScanLocal
sceneScanXDown
sceneScanXUp
sceneScoreObjectAtPose
sceneScoreThresh
sceneSetAngularApertureCols
sceneSetAngularApertureRows
sceneSetAngularBaffleCols
sceneSetAngularBaffleRows
sceneSetAnnotatedClassName
sceneSetAnnotatedClassNameToFocusedClass
sceneSetBackgroundFromObserved
sceneSetBackgroundMapTakes a scene and a background map and sets the scene with the background map.
sceneSetBackgroundStdDevColor
sceneSetBackgroundStdDevY
sceneSetCellCountThreshold
sceneSetClassificationMode
sceneSetCurrentSceneSets the current scene with its argument.
sceneSetDepthPatchHalfWidth
sceneSetDiscrepancyDensityFromZ
sceneSetDiscrepancyModeDot
sceneSetDiscrepancyModeNoisyAnd
sceneSetDiscrepancyModeNoisyOr
sceneSetDiscrepancyModePoint
sceneSetDiscrepancySearchDepth
sceneSetFixationMode
sceneSetFocusedSceneStdDevColor
sceneSetFocusedSceneStdDevY
sceneSetHeightReticleFromPixel
sceneSetHeightReticleFromVariance
sceneSetLightModelFromDiscrepancy
sceneSetLightingModelFromStack
sceneSetLightingModelStdDevColor
sceneSetLightingModelStdDevY
sceneSetMinSigmaSquared
sceneSetObservedMapTakes a scene and an observed map and sets the scene with the observed map.
sceneSetObservedRGBFromVariance
sceneSetObservedRGBFromZ
sceneSetPredictedClassName
sceneSetPredictedClassNameToFocusedClass
sceneSetScoreThresh
sceneSetVanishingPointFromPixel
sceneSetVanishingPointFromVariance
sceneSmoothDepthStackInZ
sceneSmoothDiscrepancyDensity
sceneSmoothSquaredCountsAndSamplesXY
sceneSpawnClassHarmonics
sceneStoreObservedInRegister
sceneTakeAfterDensity
sceneTakeBeforeDensity
sceneTrimDepthWithDiscrepancy
sceneUpdateAllClassDiscrepancies
sceneUpdateDiscrepancy
sceneUpdateObservedFromRegisterAtZNoRecalcPhasedArray
sceneUpdateObservedFromRegisterAtZNoRecalcPhasedArrayKernel
sceneUpdateObservedFromReprojectionBufferAtZNoRecalc
sceneUpdateObservedFromSnout
sceneUpdateObservedFromStreamBuffer
sceneUpdateObservedFromStreamBufferAtZ
sceneUpdateObservedFromStreamBufferAtZNoRecalc
sceneUpdateObservedFromStreamBufferAtZNoRecalcAllUpdates the observed map from the stream buffer in a big for loop; fastest version without GPU. This is the one to copy and call.
sceneUpdateObservedFromStreamBufferAtZNoRecalcAllLightModelRenderGlareOnly
sceneUpdateObservedFromStreamBufferAtZNoRecalcAllLightModelRenderGlareOnlyRising
sceneUpdateObservedFromStreamBufferAtZNoRecalcAllLightModelRenderWithoutGlare
sceneUpdateObservedFromStreamBufferAtZNoRecalcAllLightModelRenderWithoutGlareRising
sceneUpdateObservedFromStreamBufferAtZNoRecalcAllOOP
sceneUpdateObservedFromStreamBufferAtZNoRecalcAllSelfModelRenderGlareOnly
sceneUpdateObservedFromStreamBufferAtZNoRecalcAllSelfModelRenderWithoutGlare
sceneUpdateObservedFromStreamBufferAtZNoRecalcEPI
sceneUpdateObservedFromStreamBufferAtZNoRecalcPhasedArray
sceneUpdateObservedFromStreamBufferAtZNoRecalcSecondStageArray
sceneUpdateObservedFromStreamBufferAtZNoRecalcSecondStageAsymmetricArray
sceneUpdateObservedFromStreamBufferAtZNoRecalcViewSynthAll
sceneUpdateObservedFromStreamBufferAtZNoRecalcViewSynthAllGCLightModelRenderGlareOnly
sceneUpdateObservedFromStreamBufferAtZNoRecalcViewSynthAllGCLightModelRenderWithoutGlare
sceneUpdateObservedFromStreamBufferAtZNoRecalcViewSynthAllGCSelfRenderGlareOnly
sceneUpdateObservedFromStreamBufferAtZNoRecalcViewSynthAllGCSelfRenderWithoutGlare
sceneUpdateObservedFromStreamBufferDepthMapUpdates the observed map from the stream buffer as a depth map. Used for the Kinect 2.
sceneUpdateObservedFromStreamBufferNoRecalc
sceneUpdateObservedFromWrist
sceneZeroBox
searchProximity
seeHz
selectBestAvailableGrasp
selectMaxTargetCumulative
selectMaxTargetNotCumulative
setAerialGradientsToBarsLengthWidthGap
setAiboPoseHeadPan
setAiboPoseHeadTilt
setAiboPoseLegLF1
setAiboPoseLegLF2
setAiboPoseLegLF3
setAiboPoseLegLH1
setAiboPoseLegLH2
setAiboPoseLegLH3
setAiboPoseLegRF1
setAiboPoseLegRF2
setAiboPoseLegRF3
setAiboPoseLegRH1
setAiboPoseLegRH2
setAiboPoseLegRH3
setAiboPoseMouth
setAiboPoseNeck
setAiboPoseTailPan
setAiboPoseTailTilt
setArmedThreshold
setBeeHome
setBoundingBoxModeToLearningAlgorithmC
setBoundingBoxModeToLearningSampling
setBoundingBoxModeToMapping
setBoundingBoxModeToStaticMarginals
setBoundingBoxModeToStaticPrior
setBreakGraspTiesWithNoise
setC3dPoseBase
setCameraCenterX
setCameraCenterY
setCameraCropUpperLeftCornerX
setCameraCropUpperLeftCornerY
setCameraKappaX
setCameraKappaY
setCameraMuX
setCameraMuY
setCameraR00
setCameraR01
setCameraR10
setCameraR11
setClassLabels
setClassLabelsBaseClassAbsolute
setClassLabelsObjectFolderAbsolute
setClosestBlueBoxMemoryToFocusedClass
setColorReticles
setColorReticlesA
setControlModeAngles
setControlModeEePosition
setCurrentCornellTableToZero
setCurrentIKBoundaryMode
setCurrentIKFastMode
setCurrentPoseFromJoints
setCurrentPoseToTruePose
setCurrentTableZ
setDefaultHandCameraOffsetSets the hand camera offset to the default value (obtained for Baxter's RGB wrist camera.
setEEPosePX
setEEPosePY
setEEPosePZ
setEEPoseQW
setEEPoseQX
setEEPoseQY
setEEPoseQZ
setEffortHere
setEffortThresh
setExpectedCropsToStream
setFakeBBWidth
setFocusedClass
setFocusedClassIdx
setGradientServoHardMaxIterations
setGradientServoMode
setGradientServoSoftMaxIterations
setGraspBackoffDistance
setGraspMemoriesFromClassGraspMemories
setGraspModeTo3D
setGraspModeToCrane
setGreenHalo
setGridSize
setGridSizeCoarse
setGridSizeCoarser
setGridSizeEvenCoarser
setGridSizeFine
setGridSizeMedium
setGridSizeNowThatsCoarse
setGridSizeVeryFine
setGripperMask
setGripperMaskA
setGripperMaskAA
setGripperMaskB
setGripperMaskBA
setGripperMaskCA
setGripperMaskCB
setGripperMaskOnes
setGripperMaskThresh
setGripperMaskWithMotion
setGripperMaskWithMotionA
setGripperMovingForce
setGripperThresh
setHandCameraOffset
setHandEndEffectorOffset
setHeadPanTargetSpeed
setHeightMemoriesFromClassHeightMemories
setHeightReticles
setHeightReticlesA
setHelpMake a new compound word with specified description text. Usage: <compound word> < help text > setHelp -> < compound word with help text >.
setHoverThreshold
setIROffset
setIROffsetA
setIdleModeToCrane
setIdleModeToEmpty
setIdleModeToPatrol
setIdleModeToShrug
setIdleModeToStopClear
setLastLabelLearned
setMagnification
setMagnificationA
setMagnificationB
setMapAutoPick
setMapFreeSpacePixelSkirt
setMapGrayBoxPixelSkirtCols
setMapGrayBoxPixelSkirtRows
setMapGrayBoxPixelWaistCols
setMapGrayBoxPixelWaistRows
setMapSearchFenceXMax
setMapSearchFenceXMin
setMapSearchFenceYMax
setMapSearchFenceYMin
setMapServoMode
setMappingServoTimeout
setMovementStateToMoving
setMovingThreshold
setNumClasses
setPatrolModeToLoop
setPatrolModeToOnce
setPatrolStateToHanding
setPatrolStateToIdling
setPatrolStateToPatrolling
setPatrolStateToPicking
setPatrolStateToPlacing
setPhotoPinHere
setPickFixMapAnchor
setPickFlushFactor
setPickModeToLearningAlgorithmC
setPickModeToLearningSampling
setPickModeToStaticMarginals
setPickModeToStaticPrior
setPlaceModeToHand
setPlaceModeToHold
setPlaceModeToRegister
setPlaceModeToShake
setPressPose
setPursuitProximity
setRandomOrientationForPhotospin
setRandomPositionAfterPick
setRandomPositionAndOrientationForHeightLearning
setRangeMapCenterFromCurrentEEPose
setRedHalo
setRepeatHalo
setScanGroup
setScanModeCentered
setScanModeNotCentered
setSearchProximity
setSisFlagsSet whether we should save different sensor streams. <pose> <range> <image> <joints> <word> <label> setSisFlags
setSnapToFlushGrasp
setSonarLed
setSpeed
setStiffness
setStreamPicks
setTable
setTableA
setTargetClassToLastLabelLearned
setTargetReticleToTheMaxMappedPosition
setTheYcbTable
setTorsoFanLevel
setTrackbarLoHi
setTwistThresh
setVanishingPoint
setVanishingPointA
setVanishingPointB
setVanishingPointPrep
setW1AngleThresh
setW1GoThresh
shakeHeadNegative
shakeHeadPositive
shakeItOff1
shakeItUpAndDown
shiftGraspGear
shiftIntoGraspGear1
shiftIntoGraspGear2
shiftIntoGraspGear3
shiftIntoGraspGear4
shoreUp
shutdownAllNonessentialSystemsShut down all systems that are not important for streaming data, to maximize the framerate we stream.
shutdownToSensorsAndMovement
silenceSonar
sin
slfgRebase
slfgRebaseCellWidth
slfgRebaseCore
slfgRebaseNoBackground
slfgReconstructPoints
slide
slip
socialFeedbackMapLeftWorkspace
socialFeedbackMapRightWorkspace
socialFeedbackMapWorkspace
socialFeedbackTakeScene
socketClose
socketOpen
socketRead
socketSend
spawnTargetClassAtEndEffector
spawnTargetMasterSpriteAtEndEffector
spinForSeconds
spinForSecondsA
spinForSecondsInit
squeezeDuck
start
start3dGraspAnnotation
start3dGraspAnnotationNoChange
stay
stayNoRoll
stayZOnly
stereoCalculate
stereoDisplay
stereoPair
stereoPairCache1
stereoPairCache2
stereoPrep
storeCreate a new variable. Usage <value> "<name>" store. After that you can say <name> and it will push its contents on the call stack.
streamBasePoseForCurrentImagePush the arm pose for the current image in the stream buffer.
streamCenterCropAsFocusedClass
streamCropsAsFocusedClass
streamDisableAllSisFlagsEnable all SIS flags.
streamDiskStreaming
streamEnableAllSisFlagsEnable all SIS flags.
streamEnableSisImageAndPosesConfigure Ein to stream images and poses only.
streamGraspResult
streamImageBufferCurrentIdx
streamImageBufferSize
streamImageSpeed
streamIncrementImageStreamBufferIncrements the current location in the image stream buffer. The new default word, which does no load and no kick.
streamJointBufferSize
streamLabel
streamLabelBufferSize
streamPlayStreamBufferPlay back the stream buffer. Plays back at a constant rate; is not careful to wait the 'correct' amount of time between frames.
streamPoseBufferSize
streamPoseForCurrentImagePush the pose for the current image in the stream buffer.
streamRangeBufferSize
streamRenderStreamWindowRender the stream buffer window.
streamScanCentered
streamSetDiskStreaming
streamSetImageBufferCurrentIdx
streamSetSisImage
streamSetSisJoints
streamSetSisLabel
streamSetSisPose
streamSetSisRange
streamSetSisWord
streamSisImage
streamSisJoints
streamSisLabel
streamSisPose
streamSisRange
streamSisWord
streamSpin
streamWordBufferSize
streamWriteBuffersToDiskWrite what is in the stream buffer to disk.
streamedAccumulatedDensity
streamedDensity
subscribeCameraParameterTrackerToRosOut
sumPops a compound word; sums the entries; pushes the result. Usage: ( 1 1 1 ) sum -> 3.
swap
sweep_advance
sweep_noadvance
sweep_slap
sweep_unwind
sweep_windup
switchSonarLed
synchronicServo
synchronicServoA
synchronicServoDoNotTakeClosest
synchronicServoRepeat
synchronicServoTakeClosest
table1DCellCountThreshold
table2DCellCountThreshold
tableAddBarGrasp
tableAddBlockGrasp
tableAddBlockGraspInPlace
tableAddBlockGraspSaveModelAndPickAfterFind
tableAddBlueBoxesForSceneObjects
tableArrayAutoFocus
tableArrayViewSynthesisAutoFocus
tableBlockCollarWidth
tableBlockGraspResolution
tableBlockGripperThrow
tableBlockMaxGraspThickness
tableBlockTargetContactWidth
tableBlockUsingBlocks
tableCaptureAsFocused
tableCaptureCore
tableCellCountThreshold
tableChrEndHeight
tableChrExtraZ
tableChrStartHeight
tableClassifyOne
tableCreateClassScene
tableDefaultScoreThresh
tableDribble
tableDribbleBestCore
tableDribbleCore
tableDribblePlace
tableDribblePrep
tableEvaluateObject
tableFissionEndScene
tableFissionStartScene
tableFivePointThreeWidthIsNewComponent
tableFivePointThreeWidthIsNewComponentBeforeAfter
tableFivePointThreeWidthIsNewComponentNormalizedSumOfLogs
tableFivePointThreeWidthPredictAndRenderBest
tableFivePointThreeWidthTakeScene
tableFullScan
tableFusionGetRaysFromStream
tableFusionSpiralCoreNoClean
tableFusionTakeScene
tableIdolDance
tableInfiniteDribble
tableInfiniteDribbleBest
tableInfiniteScan
tableInitInitialize scene parameters.
tableInitNoBackgroundInitialize scene parameters, no background map reload.
tableInitializeCategoryModel
tableLenticularAutoFocus
tableLoadAndPrepareFocusedModel
tableLoadAverageModel
tableLoadFirstModel
tableLoadStreamImages
tableLock3dGraspLocalize the focused object and prepare to annotate a 3D grasp.
tableLock3dGraspInPlaceLocalize the focused object and prepare to annotate a 3D grasp after an observed map already exists.
tableLongTakeScene
tableMagCalibrationGridSearcher
tableMapBestAndPick
tableMapBestAndPickInPlace
tableMapBestClass
tableMapBestClassInPlace
tableMapFocusedAndPick
tableMapFocusedClass
tableMergeFocusedClass
tableMoveToSceneObject
tablePickWithAddedGrasp
tablePointToSceneObject
tablePredictAndRenderBest
tablePredictAndRenderFile
tablePredictFocusedObject
tableQuickScan
tableRayUsefulPhrases
tableRecaptureServo
tableRecaptureServoInPlace
tableRecaptureServoShort
tableRecaptureServoSpiral
tableReconstructArrayZ
tableReconstructCpLightModelGC
tableReconstructCpLightModelRisingGC
tableReconstructCpNoGC
tableReconstructCpSelfGC
tableReconstructCpSelfGlareOnly
tableReconstructCpViewSynthLightModelGC
tableReconstructCpViewSynthNoGC
tableReconstructCpWithOOP
tableReconstructEPIWithoutZ
tableReconstructFromPhasedArrayRegister
tableReconstructFromPhasedArrayRegisterKernel
tableReconstructFromStreamReconstruct the entire stream at the table height.
tableReconstructGCAll
tableReconstructGCLightAllFromNone
tableReconstructGCLightRisingFromNone
tableReconstructGCNone
tableReconstructGCNoneWide
tableReconstructGCSelfFromNone
tableReconstructGCViewSynthLightModel
tableReconstructGCViewSynthLightModelDilate
tableReconstructGCViewSynthNone
tableReconstructGCWrist
tableReconstructLenticularWithoutZ
tableReconstructLightSlabWithZ
tableReconstructLightSlabWithoutZ
tableReconstructMarginalsFromStack
tableReconstructMarginalsFromStackCore
tableReconstructMaxLikelihoodFromStack
tableReconstructMaxLikelihoodFromStackCore
tableReconstructMaxSegmentedByMarginalsFromStack
tableReconstructPhrases
tableReconstructServoToBestSceneObject
tableReconstructServoToFocusedSceneObject
tableReconstructStreamTakeSceneSamples
tableReconstructWithOOP
tableReconstructWithOOPWide
tableReconstructWithZ
tableReconstructWithZApertureSetter
tableReconstructWithZCaster
tableReconstructWithZCore
tableReconstructWithZDeltaZ
tableReconstructWithZGridMultiplier
tableReconstructWithZRegisterInitializer
tableReconstructWithZTable
tableReconstructWithZTable1D
tableReconstructWithZTable2D
tableReconstructWithZTableGlare
tableReconstructWithZTableGlareShort
tableReconstructWithZTableShortMarginals
tableReconstructWithZTopZ
tableReconstructWithZTotalZ
tableReconstructWithZTotalZDefault
tableReconstructWithZUnderWater
tableReconstructWithZUnderWaterMarginals
tableReconstructWithoutZ
tableRegularizeBackground
tableRegularizeFocusedClassModel
tableReset
tableRestoreFromBlocks
tableServoToBestSceneObject
tableServoToFocusedSceneObject
tableSetBackgroundFromObservedSet current observed map to the background map and save to RAM.
tableSetClassesSS1
tableSetClassesSS2
tableShortServoToBestSceneObject
tableShortServoToFocusedSceneObject
tableShortTakeScene
tableSpiralGridSize
tableSpiralGridSizeDefault
tableSpiralIsNewComponentInPlace
tableSpiralIsNewComponentNormalizedSum
tableSpiralIsNewComponentPseudoGeometricInPlace
tableSpiralMoveSpeed
tableSpiralMoveSpeedDefault
tableSpiralServoToAnonymousObject
tableSpiralServoToBestBlock
tableSpiralServoToBestSceneObject
tableSpiralServoToFocusedSceneObject
tableSpiralStreamTakeSceneSamples
tableSpiralStreamTakeSceneSamplesDefault
tableSpiralTakeScene
tableSpoofVanishingPoint
tableStreamBufferTakeSceneRender the stream buffer into the observed map.
tableSwapToBlocks
tableTakeScene
tableTakeScene1D
tableTakeScene1DNoReconstruct
tableTakeScene2D
tableTakeScene2DNoReconstruct
tableUpdateBg
tableUpdateClassScene
tableUpdateFivePointThreeWidth
tableUpdateLawnmower
tableUpdateMagCoreNoClean
tableUpdateMagicEyeCoreNoClean
tableUpdateMaps
tableUpdateObservedFromWristFivePoint
tableUpdatePanCoreNoClean
tableUpdatePauseCoreNoClean
tableUpdateSpinCoreNoClean
tableUpdateSpiral
tableUpdateSpiralCore
tableUpdateSpiralCoreIntegrate
tableUpdateSpiralCoreNoClean
tableUpdateSpiralEccentricCore
tableUpdateSpiralEccentricCoreNoClean
tableUpdateSpiralRing
tableUpdateSpiralStop
tableUpdateStrafeCoreNoClean
tableUpdateTiltCoreNoClean
tableUpdateZoomCoreNoClean
tableUsefulPhrases
temp_backScan
temp_backScan2
temp_mapFrame
tenthImpulse
throw
throwOpenCV
tiltCoreAmount
tiltCoreGridSize
tiltCoreTimes
time
times
toggleDrawClearanceMap
toggleDrawIKMap
toggleShouldIDoIK
toggleShouldIRender
toggleUseFade
toggleUseGlow
torsoFanAuto
torsoFanOff
torsoFanOn
torsoFanState
touchDown
trainAndWriteFocusedClassKnn
trainModelsRebuild the kNN model for the detectors.
trainModelsFromLabels
transformPath
trickyCaptureWords
trueCameraPose
truePose
tryToMoveToTheLastPickHeight
tryToMoveToTheLastPrePickHeight
tuckArms
turnAboutY
turnOffScanning
turnOnRecordRangeMap
twistThresh
twistWords
twoDPatrolContinue
twoDPatrolStart
twoPartPlaceObjectOnObject
unFixCameraLighting
unFixCameraLightingNoUpdate
unSilenceSonar
unTurnAboutY
uniformlySampleHeight
unmapTargetBlueBox
unsubscribeCameraParameterTrackerToRosOut
untuckArms
uploadObjectToDatabase
utils_practice_bars
viewSynthApertureDilateDelta
visionCycle
visionCycleNoClassify
voidCurrentMapRegion
w1AngleThresh
w1GoThresh
waitForSeconds
waitForSecondsA
waitForTugThenOpenGripper
waitForTugThenOpenGripperA
waitGetCurrentWaitMode
waitSetCurrentWaitMode
waitUntilAccelerometerCallbackReceived
waitUntilAccelerometerCallbackReceivedA
waitUntilAtCurrentPosition
waitUntilAtCurrentPositionB
waitUntilAtCurrentPositionCollapse
waitUntilEffort
waitUntilEffortA
waitUntilEndpointCallbackReceived
waitUntilEndpointCallbackReceivedA
waitUntilGripperNotMoving
waitUntilGripperNotMovingB
waitUntilGripperNotMovingC
waitUntilImageCallbackReceived
waitUntilImageCallbackReceivedA
waitUntilOnSideOfPlane
waitUntilOnSideOfPlaneB
waitUntilRingBufferImageAtCurrentPosition
waitWord
watch
while
workspace1
workspace2
workspace3
workspace3_1
workspace4
writeAlphaObjectToBetaFolders
writeAlphaObjectToBetaFoldersA
writeFocusedClass
writeFocusedClassGrasps
writeXMLEnvironment
xDown
xUpMove end effector up in the x dimension one unit. Change unit size with setGridSize. Usage: xUp
yDown
yUp
zDown
zUp
zeroGMode
zeroGOffTurns off zero gravity mode, so Ein will publish the current pose as the desired target position.
zeroGOnTurns on zero gravity mode, so that you can move the arm where you want and it will stay there. Ein will publish the true joint position as the desired joint position.
zeroGToggleToggle zero gravity mode.
zeroIROffset