Namespaces |
| namespace | test_pr2_gripper_reactive_approach_server |
Functions |
| def | test_pr2_gripper_reactive_approach_server::call_empty_service |
| def | test_pr2_gripper_reactive_approach_server::call_reactive_approach |
| def | test_pr2_gripper_reactive_approach_server::call_reactive_grasp |
| def | test_pr2_gripper_reactive_approach_server::call_reactive_lift |
| def | test_pr2_gripper_reactive_approach_server::call_reactive_place |
| def | test_pr2_gripper_reactive_approach_server::keypause |
| def | test_pr2_gripper_reactive_approach_server::move_cartesian_step |
| def | test_pr2_gripper_reactive_approach_server::return_current_pose_as_list |
| def | test_pr2_gripper_reactive_approach_server::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 | test_pr2_gripper_reactive_approach_server::approach_type = 'top' |
| list | test_pr2_gripper_reactive_approach_server::approachpos = [.52, -.05, wrist_height+.1] |
| list | test_pr2_gripper_reactive_approach_server::approachquat = [0.5, 0.5, -0.5, 0.5] |
| tuple | test_pr2_gripper_reactive_approach_server::c = keypause() |
| tuple | test_pr2_gripper_reactive_approach_server::cc_srv = rospy.ServiceProxy("r_reactive_grasp/compliant_close", Empty) |
| tuple | test_pr2_gripper_reactive_approach_server::cm |
| list | test_pr2_gripper_reactive_approach_server::current_goal = approachpos[:] |
| 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') |
| list | test_pr2_gripper_reactive_approach_server::joint_names |
| tuple | test_pr2_gripper_reactive_approach_server::lift = GripperTranslation() |
| list | test_pr2_gripper_reactive_approach_server::place_goal = current_goal[:] |
| tuple | test_pr2_gripper_reactive_approach_server::place_pose = create_pose_stamped(place_goal) |
| tuple | test_pr2_gripper_reactive_approach_server::pregrasp_pose = create_pose_stamped(approachpos+approachquat) |
| tuple | test_pr2_gripper_reactive_approach_server::ra_ac |
| tuple | test_pr2_gripper_reactive_approach_server::result = call_reactive_grasp(rg_ac, grasp_pose, trajectory) |
| tuple | test_pr2_gripper_reactive_approach_server::rg_ac |
| tuple | test_pr2_gripper_reactive_approach_server::rl_ac |
| tuple | test_pr2_gripper_reactive_approach_server::rp_ac |
| int | test_pr2_gripper_reactive_approach_server::side_tip_dist_to_table = 06 |
| list | test_pr2_gripper_reactive_approach_server::sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, -1.787] |
| list | test_pr2_gripper_reactive_approach_server::sideapproachpos = [.63, -.3, table_height-.035+side_tip_dist_to_table] |
| list | test_pr2_gripper_reactive_approach_server::sideapproachquat = [.707, .707, 0, 0] |
| int | test_pr2_gripper_reactive_approach_server::small_step = 02 |
| list | test_pr2_gripper_reactive_approach_server::start_angles = [0.] |
| int | test_pr2_gripper_reactive_approach_server::table_height = 7239 |
| int | test_pr2_gripper_reactive_approach_server::tip_dist_to_table = 165 |
| | test_pr2_gripper_reactive_approach_server::trajectory = None |
| 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) |
| int | test_pr2_gripper_reactive_approach_server::wrist_height = 02 |
