run_experiments Namespace Reference

Functions
def	call_empty_service
def	call_find_cluster_bounding_box
	call find_cluster_bounding_box to get the bounding box for a cluster
def	call_reactive_approach
def	call_reactive_grasp
def	call_reactive_lift
def	call_reactive_place
def	call_tabletop_detection
def	do_adjust
def	find_farthest_box
def	keypause
def	move_arm_to_side
def	move_cartesian_step
def	return_current_pose_as_list
def	return_rel_pose
	convert a relative vector in frame to a pose in the base_link frame if start_pose is not specified, uses current pose of the wrist
def	side_to_approach_joint
def	try_hard_to_move_joint
Variables
string	approach_type = 'top'
list	approachpos = [.52, -.05, wrist_height+.1]
list	approachquat = [0.5, 0.5, -0.5, 0.5]
tuple	bounding_box_srv = rospy.ServiceProxy('/find_cluster_bounding_box', FindClusterBoundingBox)
tuple	c = keypause()
tuple	cc_srv = rospy.ServiceProxy("r_reactive_grasp/compliant_close", Empty)
tuple	cm
tuple	col_map_interface = collision_map_interface.CollisionMapInterface()
list	current_goal = approachpos[:]
tuple	detect_srv = rospy.ServiceProxy("object_detection", TabletopDetection)
tuple	draw_functions = object_manipulator.draw_functions.DrawFunctions('grasp_markers')
tuple	draw_sphere_mat = scipy.matrix(scipy.identity(4))
tuple	error_code = cm.move_arm_pose(pregrasp_pose, blocking = 1)
tuple	farthest_point = find_farthest_box(box_poses, box_dims, farthest_point_axis)
list	farthest_point_axis = [0,0,1]
tuple	ga_srv = rospy.ServiceProxy("r_reactive_grasp/grasp_adjustment", Empty)
tuple	grasp_pose = return_rel_pose(cm, [.1, 0, 0], 'r_wrist_roll_link')
list	joint_names
tuple	lift = GripperTranslation()
list	place_goal = current_goal[:]
tuple	place_pose = create_pose_stamped(place_goal)
tuple	pregrasp_pose = create_pose_stamped(approachpos+approachquat)
tuple	ra_ac
tuple	result = call_reactive_grasp(rg_ac, grasp_pose, trajectory)
tuple	rg_ac
tuple	rl_ac
tuple	rp_ac
int	side_tip_dist_to_table = 06
list	sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, -1.787]
list	sideapproachpos = [.50, -.3, table_height-.035+side_tip_dist_to_table]
list	sideapproachquat = [.707, .707, 0, 0]
int	small_step = 02
list	start_angles = [0.]
int	table_height = 7239
int	tip_dist_to_table = 18
	trajectory = None
tuple	use_slip_controller = rospy.get_param('/reactive_grasp_node_right/use_slip_detection', 0)
tuple	use_slip_detection = rospy.get_param('/reactive_grasp_node_right/use_slip_controller', 0)
int	wrist_height = 02

---

Function Documentation

def run_experiments::call_empty_service	(		service_name,
			serv
	)

Definition at line 155 of file run_experiments.py.

def run_experiments::call_find_cluster_bounding_box	(		bounding_box_srv,
			cluster
	)

call find_cluster_bounding_box to get the bounding box for a cluster

Definition at line 243 of file run_experiments.py.

def run_experiments::call_reactive_approach	(		ac,
			grasp_pose,
			trajectory
	)

Definition at line 52 of file run_experiments.py.

def run_experiments::call_reactive_grasp	(		ac,
			grasp_pose,
			trajectory
	)

Definition at line 32 of file run_experiments.py.

def run_experiments::call_reactive_lift	(		ac,
			lift
	)

Definition at line 72 of file run_experiments.py.

def run_experiments::call_reactive_place	(		ac,
			place_pose
	)

Definition at line 87 of file run_experiments.py.

def run_experiments::call_tabletop_detection	(		detect_srv,
			bounding_box_srv
	)

Definition at line 257 of file run_experiments.py.

def run_experiments::do_adjust

(

)

Definition at line 100 of file run_experiments.py.

def run_experiments::find_farthest_box	(		box_poses,
			box_dims,
			axis
	)

Definition at line 293 of file run_experiments.py.

def run_experiments::keypause

(

)

Definition at line 137 of file run_experiments.py.

def run_experiments::move_arm_to_side	(		cm,
			col_map_interface
	)

Definition at line 227 of file run_experiments.py.

def run_experiments::move_cartesian_step	(		cm,
			pose,
			timeout = 10.0,
			settling_time = 3.0,
			blocking = 0
	)

Definition at line 144 of file run_experiments.py.

def run_experiments::return_current_pose_as_list

(

cm

)

Definition at line 166 of file run_experiments.py.

def run_experiments::return_rel_pose	(		cm,
			vector,
			frame,
			start_pose = None
	)

convert a relative vector in frame to a pose in the base_link frame if start_pose is not specified, uses current pose of the wrist

Definition at line 173 of file run_experiments.py.

def run_experiments::side_to_approach_joint	(		cm,
			col_map_interface
	)

Definition at line 235 of file run_experiments.py.

def run_experiments::try_hard_to_move_joint	(		cm,
			col_map_interface,
			trajectory,
			max_tries = 5,
			use_open_loop = 1
	)

Definition at line 199 of file run_experiments.py.

---

Variable Documentation

string run_experiments::approach_type = 'top'

Definition at line 406 of file run_experiments.py.

list run_experiments::approachpos = [.52, -.05, wrist_height+.1]

Definition at line 398 of file run_experiments.py.

list run_experiments::approachquat = [0.5, 0.5, -0.5, 0.5]

Definition at line 399 of file run_experiments.py.

tuple run_experiments::bounding_box_srv = rospy.ServiceProxy('/find_cluster_bounding_box', FindClusterBoundingBox)

Definition at line 356 of file run_experiments.py.

tuple run_experiments::c = keypause()

Definition at line 440 of file run_experiments.py.

tuple run_experiments::cc_srv = rospy.ServiceProxy("r_reactive_grasp/compliant_close", Empty)

Definition at line 353 of file run_experiments.py.

tuple run_experiments::cm

Initial value:

controller_manager.ControllerManager('r', \
                             using_slip_controller = use_slip_controller, \
                             using_slip_detection = use_slip_detection)

Definition at line 374 of file run_experiments.py.

tuple run_experiments::col_map_interface = collision_map_interface.CollisionMapInterface()

Definition at line 379 of file run_experiments.py.

tuple run_experiments::current_goal = approachpos[:]

Definition at line 404 of file run_experiments.py.

tuple run_experiments::detect_srv = rospy.ServiceProxy("object_detection", TabletopDetection)

Definition at line 355 of file run_experiments.py.

tuple run_experiments::draw_functions = object_manipulator.draw_functions.DrawFunctions('grasp_markers')

Definition at line 382 of file run_experiments.py.

tuple run_experiments::draw_sphere_mat = scipy.matrix(scipy.identity(4))

Definition at line 486 of file run_experiments.py.

tuple run_experiments::error_code = cm.move_arm_pose(pregrasp_pose, blocking = 1)

Definition at line 455 of file run_experiments.py.

tuple run_experiments::farthest_point = find_farthest_box(box_poses, box_dims, farthest_point_axis)

Definition at line 480 of file run_experiments.py.

list run_experiments::farthest_point_axis = [0,0,1]

Definition at line 473 of file run_experiments.py.

tuple run_experiments::ga_srv = rospy.ServiceProxy("r_reactive_grasp/grasp_adjustment", Empty)

Definition at line 354 of file run_experiments.py.

tuple run_experiments::grasp_pose = return_rel_pose(cm, [.1, 0, 0], 'r_wrist_roll_link')

Definition at line 511 of file run_experiments.py.

list run_experiments::joint_names

Initial value:

["r_shoulder_pan_joint",
                   "r_shoulder_lift_joint",
                   "r_upper_arm_roll_joint",
                   "r_elbow_flex_joint",
                   "r_forearm_roll_joint",
                   "r_wrist_flex_joint",
                   "r_wrist_roll_joint"]

Definition at line 385 of file run_experiments.py.

tuple run_experiments::lift = GripperTranslation()

Definition at line 530 of file run_experiments.py.

list run_experiments::place_goal = current_goal[:]

Definition at line 586 of file run_experiments.py.

tuple run_experiments::place_pose = create_pose_stamped(place_goal)

Definition at line 588 of file run_experiments.py.

tuple run_experiments::pregrasp_pose = create_pose_stamped(approachpos+approachquat)

Definition at line 415 of file run_experiments.py.

tuple run_experiments::ra_ac

Initial value:

actionlib.SimpleActionClient("reactive_approach/right", \
                                             ReactiveGraspAction)

Definition at line 347 of file run_experiments.py.

tuple run_experiments::result = call_reactive_grasp(rg_ac, grasp_pose, trajectory)

Definition at line 521 of file run_experiments.py.

tuple run_experiments::rg_ac

Initial value:

actionlib.SimpleActionClient("reactive_grasp/right", \
                                             ReactiveGraspAction)

Definition at line 345 of file run_experiments.py.

tuple run_experiments::rl_ac

Initial value:

actionlib.SimpleActionClient("reactive_lift/right", \
                                             ReactiveLiftAction)

Definition at line 349 of file run_experiments.py.

tuple run_experiments::rp_ac

Initial value:

actionlib.SimpleActionClient("reactive_place/right", \
                                             ReactivePlaceAction)

Definition at line 351 of file run_experiments.py.

int run_experiments::side_tip_dist_to_table = 06

Definition at line 401 of file run_experiments.py.

list run_experiments::sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, -1.787]

Definition at line 400 of file run_experiments.py.

list run_experiments::sideapproachpos = [.50, -.3, table_height-.035+side_tip_dist_to_table]

Definition at line 402 of file run_experiments.py.

list run_experiments::sideapproachquat = [.707, .707, 0, 0]

Definition at line 403 of file run_experiments.py.

int run_experiments::small_step = 02

Definition at line 405 of file run_experiments.py.

list run_experiments::start_angles = [0.]

Definition at line 517 of file run_experiments.py.

int run_experiments::table_height = 7239

Definition at line 395 of file run_experiments.py.

int run_experiments::tip_dist_to_table = 18

Definition at line 396 of file run_experiments.py.

run_experiments::trajectory = None

Definition at line 518 of file run_experiments.py.

tuple run_experiments::use_slip_controller = rospy.get_param('/reactive_grasp_node_right/use_slip_detection', 0)

Definition at line 334 of file run_experiments.py.

tuple run_experiments::use_slip_detection = rospy.get_param('/reactive_grasp_node_right/use_slip_controller', 0)

Definition at line 333 of file run_experiments.py.

int run_experiments::wrist_height = 02

Definition at line 397 of file run_experiments.py.