pr2_gripper_reactive_approach::reactive_grasp Namespace Reference

Classes
class	Aborted
	abort exception More...
class	ReactiveGrasper
	reactive/guarded movement and grasping More...
Functions
def	keypause
	pause for input
Variables
tuple	approach_dir = rg.compute_approach_dir(current_pose, new_grasp_pose)
tuple	c = keypause()
tuple	cm = controller_manager.ControllerManager('r')
tuple	current_angles = cm.get_current_arm_angles()
tuple	current_pose = rg.cm.get_current_wrist_pose_stamped()
	currentgoal = pos+rot
int	forward_step = 02
int	grasp_num_tries = 2
int	max_joint_vel = 05
string	mode = 'none'
tuple	new_grasp_pose = rg.return_rel_pose(top_approach_vect, 'base_link')
tuple	result = rg.reactive_grasp(current_pose, new_grasp_pose, forward_step = forward_step, grasp_num_tries = grasp_num_tries)
tuple	rg = ReactiveGrasper(cm)
tuple	side_approach_pose = create_pose_stamped(sideapproachpos+sideapproachquat)
tuple	side_approach_vect = rg.compute_approach_vect(side_approach_pose, side_grasp_pose)
tuple	side_grasp_pose = create_pose_stamped(sidegrasppos+sideapproachquat)
int	side_tip_dist_to_table = 14
list	sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, 1.355]
tuple	sideapproachmat
list	sideapproachpos = [.63, -.3, table_height-.035+side_tip_dist_to_table]
tuple	sideapproachquat = list(tf.transformations.quaternion_from_matrix(sideapproachmat))
list	sidegrasppos = sideapproachpos[:]
int	small_step = 1
	start_angles = sideangles
int	step_size = 01
int	table_height = 7239
int	tiltangle = 18
int	tip_dist_to_table = 12
tuple	top_approach_pose = create_pose_stamped(topapproachpos+topapproachquat)
tuple	top_approach_vect = rg.compute_approach_vect(top_approach_pose, top_grasp_pose)
tuple	top_grasp_pose = create_pose_stamped(topgrasppos+topapproachquat)
list	topapproachpos = [.52, -.05, wrist_height+.1]
list	topapproachquat = [-0.5, 0.5, 0.5, 0.5]
list	topgrasppos = topapproachpos[:]
int	wrist_height = 02

Function Documentation

def pr2_gripper_reactive_approach::reactive_grasp::keypause ( )

pause for input

Definition at line 60 of file reactive_grasp.py.

Variable Documentation

tuple pr2_gripper_reactive_approach::reactive_grasp::approach_dir = rg.compute_approach_dir(current_pose, new_grasp_pose)

Definition at line 1494 of file reactive_grasp.py.

tuple pr2_gripper_reactive_approach::reactive_grasp::c = keypause()

Definition at line 1426 of file reactive_grasp.py.

tuple pr2_gripper_reactive_approach::reactive_grasp::cm = controller_manager.ControllerManager('r')

Definition at line 1358 of file reactive_grasp.py.

tuple pr2_gripper_reactive_approach::reactive_grasp::current_angles = cm.get_current_arm_angles()

Definition at line 1485 of file reactive_grasp.py.

tuple pr2_gripper_reactive_approach::reactive_grasp::current_pose = rg.cm.get_current_wrist_pose_stamped()

Definition at line 1471 of file reactive_grasp.py.

pr2_gripper_reactive_approach::reactive_grasp::currentgoal = pos+rot

Definition at line 1409 of file reactive_grasp.py.

int pr2_gripper_reactive_approach::reactive_grasp::forward_step = 02

Definition at line 1475 of file reactive_grasp.py.

int pr2_gripper_reactive_approach::reactive_grasp::grasp_num_tries = 2

Definition at line 1474 of file reactive_grasp.py.

int pr2_gripper_reactive_approach::reactive_grasp::max_joint_vel = 05

Definition at line 1431 of file reactive_grasp.py.

string pr2_gripper_reactive_approach::reactive_grasp::mode = 'none'

Definition at line 1406 of file reactive_grasp.py.

tuple pr2_gripper_reactive_approach::reactive_grasp::new_grasp_pose = rg.return_rel_pose(top_approach_vect, 'base_link')

Definition at line 1473 of file reactive_grasp.py.

tuple pr2_gripper_reactive_approach::reactive_grasp::result = rg.reactive_grasp(current_pose, new_grasp_pose, forward_step = forward_step, grasp_num_tries = grasp_num_tries)

Definition at line 1498 of file reactive_grasp.py.

tuple pr2_gripper_reactive_approach::reactive_grasp::rg = ReactiveGrasper(cm)

Definition at line 1365 of file reactive_grasp.py.

tuple pr2_gripper_reactive_approach::reactive_grasp::side_approach_pose = create_pose_stamped(sideapproachpos+sideapproachquat)

Definition at line 1399 of file reactive_grasp.py.

tuple pr2_gripper_reactive_approach::reactive_grasp::side_approach_vect = rg.compute_approach_vect(side_approach_pose, side_grasp_pose)

Definition at line 1404 of file reactive_grasp.py.

tuple pr2_gripper_reactive_approach::reactive_grasp::side_grasp_pose = create_pose_stamped(sidegrasppos+sideapproachquat)

Definition at line 1400 of file reactive_grasp.py.

int pr2_gripper_reactive_approach::reactive_grasp::side_tip_dist_to_table = 14

Definition at line 1387 of file reactive_grasp.py.

list pr2_gripper_reactive_approach::reactive_grasp::sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, 1.355]

Definition at line 1386 of file reactive_grasp.py.

tuple pr2_gripper_reactive_approach::reactive_grasp::sideapproachmat

Initial value:

scipy.array([[0., -1., 0., 0.],  
                                 [math.cos(tiltangle), 0., math.sin(tiltangle), 0.],
                                 [-math.sin(tiltangle), 0., math.cos(tiltangle), 0.],
                                 [0., 0., 0., 1.]])

Definition at line 1390 of file reactive_grasp.py.

list pr2_gripper_reactive_approach::reactive_grasp::sideapproachpos = [.63, -.3, table_height-.035+side_tip_dist_to_table]

Definition at line 1394 of file reactive_grasp.py.

tuple pr2_gripper_reactive_approach::reactive_grasp::sideapproachquat = list(tf.transformations.quaternion_from_matrix(sideapproachmat))

Definition at line 1395 of file reactive_grasp.py.

list pr2_gripper_reactive_approach::reactive_grasp::sidegrasppos = sideapproachpos[:]

Definition at line 1396 of file reactive_grasp.py.

int pr2_gripper_reactive_approach::reactive_grasp::small_step = 1

Definition at line 1411 of file reactive_grasp.py.

pr2_gripper_reactive_approach::reactive_grasp::start_angles = sideangles

Definition at line 1388 of file reactive_grasp.py.

int pr2_gripper_reactive_approach::reactive_grasp::step_size = 01