class for running the pick and place demo, inherits from PickAndPlaceManager More...
Public Member Functions | |
| def | __init__ |
| def | call_tabletop_detection |
| overridden temporarily to get rid of the single table object when there's nothing on the table | |
| def | check_preempted |
| check if we want to preempt, and if so, stop and notify the user that we've done so | |
| def | count_objects |
| filter/count how many objects in detected_objects are on whichside | |
| def | exit_autonomous_thread |
| exit from within the autonomous thread, if running | |
| def | keyboard_extensions |
| extensions to the keyboard interface specific to the demo | |
| def | move_objects_to_other_side |
| move objects from one side of the table to the other | |
| def | pause_autonomous_thread |
| pause the autonomous thread as soon as possible | |
| def | pick_sides |
| choose the side of the table with more objects to be the side to pick them up from | |
| def | print_keyboard_extensions |
| instructions for extensions to the keyboard interface specific to the demo | |
| def | reset_preempted |
| reset the preempt notification | |
| def | run_demo |
| demo to run continuously in the autonomous thread | |
| def | set_table_place_rectangle |
| set the place rectangle to one side of the table | |
| def | start_autonomous_thread |
| tell the autonomous thread to start running the demo continuously | |
| def | stop_autonomous_thread |
| stop the autonomous thread by telling it to stop as soon as possible | |
| def | switch_sides |
| switch pick-up and put-down sides | |
| def | throw_exception |
| overridden to exit from the autonomous thread | |
| def | update_head_point_locs |
| update where to point the head based on the table centers | |
| def | update_table_info |
| extended to update the table side regions | |
Public Attributes | |
| autonomous_thread_running | |
| constrained | |
| detected_objects | |
| head_point_locs | |
| lock | |
| middle_line | |
| pick_up_side | |
| preempting | |
| put_down_side | |
| table_center_offsets | |
| table_centers | |
| table_side_dims | |
| thread | |
class for running the pick and place demo, inherits from PickAndPlaceManager
Definition at line 47 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::__init__ | ( | self, | ||
use_slip_controller = 0, |
||||
use_slip_detection = 0 | ||||
| ) |
Reimplemented from pr2_pick_and_place_demos::pick_and_place_manager::PickAndPlaceManager.
Definition at line 50 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::call_tabletop_detection | ( | self, | ||
take_static_collision_map = 0, |
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update_table = 0, |
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clear_attached_objects = 1, |
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replace_table_in_collision_map = 1, |
||||
update_place_rectangle = 0, |
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num_models = 0 | ||||
| ) |
overridden temporarily to get rid of the single table object when there's nothing on the table
Reimplemented from pr2_pick_and_place_demos::pick_and_place_manager::PickAndPlaceManager.
Definition at line 208 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::check_preempted | ( | self, | ||
inside_thread = 1 | ||||
| ) |
check if we want to preempt, and if so, stop and notify the user that we've done so
Definition at line 307 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::count_objects | ( | self, | ||
whichside = None | ||||
| ) |
filter/count how many objects in detected_objects are on whichside
Definition at line 182 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::exit_autonomous_thread | ( | self | ) |
exit from within the autonomous thread, if running
Definition at line 396 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::keyboard_extensions | ( | self, | ||
| input | ||||
| ) |
extensions to the keyboard interface specific to the demo
Reimplemented from pr2_pick_and_place_demos::pick_and_place_manager::PickAndPlaceManager.
Definition at line 413 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::move_objects_to_other_side | ( | self | ) |
move objects from one side of the table to the other
Definition at line 127 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::pause_autonomous_thread | ( | self | ) |
pause the autonomous thread as soon as possible
Definition at line 377 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::pick_sides | ( | self | ) |
choose the side of the table with more objects to be the side to pick them up from
Definition at line 226 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::print_keyboard_extensions | ( | self | ) |
instructions for extensions to the keyboard interface specific to the demo
Reimplemented from pr2_pick_and_place_demos::pick_and_place_manager::PickAndPlaceManager.
Definition at line 406 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::reset_preempted | ( | self | ) |
reset the preempt notification
Definition at line 340 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::run_demo | ( | self | ) |
demo to run continuously in the autonomous thread
Definition at line 280 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::set_table_place_rectangle | ( | self, | ||
| whichside | ||||
| ) |
set the place rectangle to one side of the table
Definition at line 271 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::start_autonomous_thread | ( | self, | ||
constrained = False | ||||
| ) |
tell the autonomous thread to start running the demo continuously
Definition at line 348 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::stop_autonomous_thread | ( | self | ) |
stop the autonomous thread by telling it to stop as soon as possible
Definition at line 360 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::switch_sides | ( | self | ) |
switch pick-up and put-down sides
Definition at line 258 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::throw_exception | ( | self | ) |
overridden to exit from the autonomous thread
Reimplemented from pr2_pick_and_place_demos::pick_and_place_manager::PickAndPlaceManager.
Definition at line 122 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::update_head_point_locs | ( | self | ) |
update where to point the head based on the table centers
Definition at line 94 of file pick_and_place_demo.py.
| def pr2_pick_and_place_demos::pick_and_place_demo::PickAndPlaceDemo::update_table_info | ( | self, | ||
adjust_place_rectangle = 0 | ||||
| ) |
extended to update the table side regions
Reimplemented from pr2_pick_and_place_demos::pick_and_place_manager::PickAndPlaceManager.
Definition at line 106 of file pick_and_place_demo.py.
Definition at line 87 of file pick_and_place_demo.py.
Definition at line 90 of file pick_and_place_demo.py.
Reimplemented from pr2_pick_and_place_demos::pick_and_place_manager::PickAndPlaceManager.
Definition at line 202 of file pick_and_place_demo.py.
Definition at line 97 of file pick_and_place_demo.py.
Definition at line 86 of file pick_and_place_demo.py.
Definition at line 63 of file pick_and_place_demo.py.
Definition at line 56 of file pick_and_place_demo.py.
Definition at line 83 of file pick_and_place_demo.py.
Definition at line 57 of file pick_and_place_demo.py.
Definition at line 66 of file pick_and_place_demo.py.
Definition at line 71 of file pick_and_place_demo.py.
Definition at line 60 of file pick_and_place_demo.py.
Definition at line 353 of file pick_and_place_demo.py.
