run_experiments.py File Reference

Go to the source code of this file.

Namespaces

namespace  run_experiments

Functions

def run_experiments::call_empty_service
def run_experiments::call_find_cluster_bounding_box
 call find_cluster_bounding_box to get the bounding box for a cluster
def run_experiments::call_reactive_approach
def run_experiments::call_reactive_grasp
def run_experiments::call_reactive_lift
def run_experiments::call_reactive_place
def run_experiments::call_tabletop_detection
def run_experiments::do_adjust
def run_experiments::find_farthest_box
def run_experiments::keypause
def run_experiments::move_arm_to_side
def run_experiments::move_cartesian_step
def run_experiments::return_current_pose_as_list
def run_experiments::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 run_experiments::side_to_approach_joint
def run_experiments::try_hard_to_move_joint

Variables

string run_experiments::approach_type = 'top'
list run_experiments::approachpos = [.52, -.05, wrist_height+.1]
list run_experiments::approachquat = [0.5, 0.5, -0.5, 0.5]
tuple run_experiments::bounding_box_srv = rospy.ServiceProxy('/find_cluster_bounding_box', FindClusterBoundingBox)
tuple run_experiments::c = keypause()
tuple run_experiments::cc_srv = rospy.ServiceProxy("r_reactive_grasp/compliant_close", Empty)
tuple run_experiments::cm
tuple run_experiments::col_map_interface = collision_map_interface.CollisionMapInterface()
list run_experiments::current_goal = approachpos[:]
tuple run_experiments::detect_srv = rospy.ServiceProxy("object_detection", TabletopDetection)
tuple run_experiments::draw_functions = object_manipulator.draw_functions.DrawFunctions('grasp_markers')
tuple run_experiments::draw_sphere_mat = scipy.matrix(scipy.identity(4))
tuple run_experiments::error_code = cm.move_arm_pose(pregrasp_pose, blocking = 1)
tuple run_experiments::farthest_point = find_farthest_box(box_poses, box_dims, farthest_point_axis)
list run_experiments::farthest_point_axis = [0,0,1]
tuple run_experiments::ga_srv = rospy.ServiceProxy("r_reactive_grasp/grasp_adjustment", Empty)
tuple run_experiments::grasp_pose = return_rel_pose(cm, [.1, 0, 0], 'r_wrist_roll_link')
list run_experiments::joint_names
tuple run_experiments::lift = GripperTranslation()
list run_experiments::place_goal = current_goal[:]
tuple run_experiments::place_pose = create_pose_stamped(place_goal)
tuple run_experiments::pregrasp_pose = create_pose_stamped(approachpos+approachquat)
tuple run_experiments::ra_ac
tuple run_experiments::result = call_reactive_grasp(rg_ac, grasp_pose, trajectory)
tuple run_experiments::rg_ac
tuple run_experiments::rl_ac
tuple run_experiments::rp_ac
int run_experiments::side_tip_dist_to_table = 06
list run_experiments::sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, -1.787]
list run_experiments::sideapproachpos = [.50, -.3, table_height-.035+side_tip_dist_to_table]
list run_experiments::sideapproachquat = [.707, .707, 0, 0]
int run_experiments::small_step = 02
list run_experiments::start_angles = [0.]
int run_experiments::table_height = 7239
int run_experiments::tip_dist_to_table = 18
 run_experiments::trajectory = None
tuple run_experiments::use_slip_controller = rospy.get_param('/reactive_grasp_node_right/use_slip_detection', 0)
tuple run_experiments::use_slip_detection = rospy.get_param('/reactive_grasp_node_right/use_slip_controller', 0)
int run_experiments::wrist_height = 02
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pr2_grasp_adjust
Author(s): Adam Leeper
autogenerated on Fri Jan 11 09:53:54 2013