test_pr2_gripper_reactive_approach_server Namespace Reference

Functions

def call_empty_service
def call_reactive_approach
def call_reactive_grasp
def call_reactive_lift
def call_reactive_place
def keypause
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

Variables

string approach_type = 'top'
list approachpos = [.52, -.05, wrist_height+.1]
list approachquat = [0.5, 0.5, -0.5, 0.5]
tuple c = keypause()
tuple cc_srv = rospy.ServiceProxy("r_reactive_grasp/compliant_close", Empty)
tuple cm
list current_goal = approachpos[:]
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 = [.63, -.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 = 165
 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 test_pr2_gripper_reactive_approach_server::call_empty_service (   service_name,
  serv 
)
def test_pr2_gripper_reactive_approach_server::call_reactive_approach (   ac,
  grasp_pose,
  trajectory 
)

Definition at line 47 of file test_pr2_gripper_reactive_approach_server.py.

def test_pr2_gripper_reactive_approach_server::call_reactive_grasp (   ac,
  grasp_pose,
  trajectory 
)

Definition at line 27 of file test_pr2_gripper_reactive_approach_server.py.

def test_pr2_gripper_reactive_approach_server::call_reactive_lift (   ac,
  lift 
)

Definition at line 67 of file test_pr2_gripper_reactive_approach_server.py.

def test_pr2_gripper_reactive_approach_server::call_reactive_place (   ac,
  place_pose 
)

Definition at line 82 of file test_pr2_gripper_reactive_approach_server.py.

def test_pr2_gripper_reactive_approach_server::keypause (  ) 

Definition at line 96 of file test_pr2_gripper_reactive_approach_server.py.

def test_pr2_gripper_reactive_approach_server::move_cartesian_step (   cm,
  pose,
  timeout = 10.0,
  settling_time = 3.0,
  blocking = 0 
)
def test_pr2_gripper_reactive_approach_server::return_current_pose_as_list (   cm  ) 
def test_pr2_gripper_reactive_approach_server::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 132 of file test_pr2_gripper_reactive_approach_server.py.


Variable Documentation

tuple test_pr2_gripper_reactive_approach_server::cc_srv = rospy.ServiceProxy("r_reactive_grasp/compliant_close", Empty)
Initial value:
controller_manager.ControllerManager('r', \
                             using_slip_controller = use_slip_controller, \
                             using_slip_detection = use_slip_detection)

Definition at line 199 of file test_pr2_gripper_reactive_approach_server.py.

tuple test_pr2_gripper_reactive_approach_server::ga_srv = rospy.ServiceProxy("r_reactive_grasp/grasp_adjustment", Empty)
tuple test_pr2_gripper_reactive_approach_server::grasp_pose = return_rel_pose(cm, [.1, 0, 0], 'r_wrist_roll_link')
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 204 of file test_pr2_gripper_reactive_approach_server.py.

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

Definition at line 174 of file test_pr2_gripper_reactive_approach_server.py.

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

Definition at line 172 of file test_pr2_gripper_reactive_approach_server.py.

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

Definition at line 176 of file test_pr2_gripper_reactive_approach_server.py.

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

Definition at line 178 of file test_pr2_gripper_reactive_approach_server.py.

list test_pr2_gripper_reactive_approach_server::sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, -1.787]
tuple test_pr2_gripper_reactive_approach_server::use_slip_controller = rospy.get_param('/reactive_grasp_node_right/use_slip_detection', 0)
tuple test_pr2_gripper_reactive_approach_server::use_slip_detection = rospy.get_param('/reactive_grasp_node_right/use_slip_controller', 0)
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pr2_gripper_reactive_approach
Author(s): Kaijen Hsiao
autogenerated on Fri Jan 11 09:11:28 2013