reactive/guarded movement and grasping with the gripper stereo integrated into the approach More...
Public Member Functions | |
| def | __init__ |
| def | adjust_using_gripper_stereo |
| def | gripper_stereo_grasp_adjust |
| def | gripper_stereo_reactive_approach |
| def | projected_vect_to_obj |
| def | reactive_approach |
| reactive approach (stop if unexpected fingertip contact and go around) assumes we are already at the approach pose, going to grasp_pose along the direction approach_dir grasp_pose should be in base_link frame and have found and checked the joint-angle path side_step is how far to move right or left when you hit something num_tries is how many bump-and-moves to try before quitting | |
| def | reactive_grasp |
Public Attributes | |
| draw_functions | |
| stereo_adjusted | |
Private Attributes | |
| _gripper_stereo_grasp_adjust_client | |
reactive/guarded movement and grasping with the gripper stereo integrated into the approach
Definition at line 64 of file gripper_stereo_reactive_grasp.py.
| def gripper_stereo_reactive_grasp::GripperStereoReactiveGrasper::__init__ | ( | self, | ||
| cm | ||||
| ) |
Definition at line 66 of file gripper_stereo_reactive_grasp.py.
| def gripper_stereo_reactive_grasp::GripperStereoReactiveGrasper::adjust_using_gripper_stereo | ( | self, | ||
| grasp_goal, | ||||
| approach_dir, | ||||
do_global_search = 1 | ||||
| ) |
Definition at line 176 of file gripper_stereo_reactive_grasp.py.
| def gripper_stereo_reactive_grasp::GripperStereoReactiveGrasper::gripper_stereo_grasp_adjust | ( | self, | ||
| grasp_pose, | ||||
do_global_search = 1 | ||||
| ) |
Definition at line 99 of file gripper_stereo_reactive_grasp.py.
| def gripper_stereo_reactive_grasp::GripperStereoReactiveGrasper::gripper_stereo_reactive_approach | ( | self, | ||
| approach_dir, | ||||
| grasp_pose, | ||||
stop_at_dist = 0.05 | ||||
| ) |
Definition at line 116 of file gripper_stereo_reactive_grasp.py.
| def gripper_stereo_reactive_grasp::GripperStereoReactiveGrasper::projected_vect_to_obj | ( | self, | ||
| goal, | ||||
| approach_dir | ||||
| ) |
Definition at line 258 of file gripper_stereo_reactive_grasp.py.
| def gripper_stereo_reactive_grasp::GripperStereoReactiveGrasper::reactive_approach | ( | self, | ||
| approach_dir, | ||||
| grasp_pose, | ||||
joint_path = None, |
||||
side_step = .015, |
||||
back_step = .03, |
||||
num_tries = 10, |
||||
goal_pos_thres = 0.01 | ||||
| ) |
reactive approach (stop if unexpected fingertip contact and go around) assumes we are already at the approach pose, going to grasp_pose along the direction approach_dir grasp_pose should be in base_link frame and have found and checked the joint-angle path side_step is how far to move right or left when you hit something num_tries is how many bump-and-moves to try before quitting
Definition at line 319 of file gripper_stereo_reactive_grasp.py.
| def gripper_stereo_reactive_grasp::GripperStereoReactiveGrasper::reactive_grasp | ( | self, | ||
| approach_pose, | ||||
| grasp_pose, | ||||
joint_path = None, |
||||
side_step = .015, |
||||
back_step = .03, |
||||
approach_num_tries = 10, |
||||
goal_pos_thres = 0.01, |
||||
min_gripper_opening = 0.0021, |
||||
max_gripper_opening = 0.1, |
||||
grasp_num_tries = 2, |
||||
forward_step = 0.03, |
||||
min_contact_row = 1, |
||||
object_name = "points", |
||||
table_name = "table", |
||||
grasp_adjust_x_step = .02, |
||||
grasp_adjust_z_step = .015, |
||||
grasp_adjust_num_tries = 3 | ||||
| ) |
Definition at line 336 of file gripper_stereo_reactive_grasp.py.
gripper_stereo_reactive_grasp::GripperStereoReactiveGrasper::_gripper_stereo_grasp_adjust_client [private] |
Definition at line 74 of file gripper_stereo_reactive_grasp.py.
Definition at line 79 of file gripper_stereo_reactive_grasp.py.
Definition at line 76 of file gripper_stereo_reactive_grasp.py.
