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
	)

Definition at line 114 of file test_pr2_gripper_reactive_approach_server.py.

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
	)

Definition at line 103 of file test_pr2_gripper_reactive_approach_server.py.

def test_pr2_gripper_reactive_approach_server::return_current_pose_as_list

(

cm

)

Definition at line 125 of file test_pr2_gripper_reactive_approach_server.py.

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

string test_pr2_gripper_reactive_approach_server::approach_type = 'top'

Definition at line 226 of file test_pr2_gripper_reactive_approach_server.py.

list test_pr2_gripper_reactive_approach_server::approachpos = [.52, -.05, wrist_height+.1]

Definition at line 218 of file test_pr2_gripper_reactive_approach_server.py.

list test_pr2_gripper_reactive_approach_server::approachquat = [0.5, 0.5, -0.5, 0.5]

Definition at line 219 of file test_pr2_gripper_reactive_approach_server.py.

tuple test_pr2_gripper_reactive_approach_server::c = keypause()

Definition at line 255 of file test_pr2_gripper_reactive_approach_server.py.

tuple test_pr2_gripper_reactive_approach_server::cc_srv = rospy.ServiceProxy("r_reactive_grasp/compliant_close", Empty)

Definition at line 180 of file test_pr2_gripper_reactive_approach_server.py.

tuple test_pr2_gripper_reactive_approach_server::cm

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::current_goal = approachpos[:]

Definition at line 224 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)

Definition at line 181 of file test_pr2_gripper_reactive_approach_server.py.

tuple test_pr2_gripper_reactive_approach_server::grasp_pose = return_rel_pose(cm, [.1, 0, 0], 'r_wrist_roll_link')

Definition at line 277 of file test_pr2_gripper_reactive_approach_server.py.

list test_pr2_gripper_reactive_approach_server::joint_names

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.

tuple test_pr2_gripper_reactive_approach_server::lift = GripperTranslation()

Definition at line 296 of file test_pr2_gripper_reactive_approach_server.py.

list test_pr2_gripper_reactive_approach_server::place_goal = current_goal[:]

Definition at line 315 of file test_pr2_gripper_reactive_approach_server.py.

tuple test_pr2_gripper_reactive_approach_server::place_pose = create_pose_stamped(place_goal)

Definition at line 317 of file test_pr2_gripper_reactive_approach_server.py.

tuple test_pr2_gripper_reactive_approach_server::pregrasp_pose = create_pose_stamped(approachpos+approachquat)

Definition at line 235 of file test_pr2_gripper_reactive_approach_server.py.

tuple test_pr2_gripper_reactive_approach_server::ra_ac

Initial value:

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

Definition at line 174 of file test_pr2_gripper_reactive_approach_server.py.

tuple test_pr2_gripper_reactive_approach_server::result = call_reactive_grasp(rg_ac, grasp_pose, trajectory)

Definition at line 287 of file test_pr2_gripper_reactive_approach_server.py.

tuple test_pr2_gripper_reactive_approach_server::rg_ac

Initial value:

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

Definition at line 172 of file test_pr2_gripper_reactive_approach_server.py.

tuple test_pr2_gripper_reactive_approach_server::rl_ac

Initial value:

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

Definition at line 176 of file test_pr2_gripper_reactive_approach_server.py.

tuple test_pr2_gripper_reactive_approach_server::rp_ac

Initial value:

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

Definition at line 178 of file test_pr2_gripper_reactive_approach_server.py.

int test_pr2_gripper_reactive_approach_server::side_tip_dist_to_table = 06

Definition at line 221 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]

Definition at line 220 of file test_pr2_gripper_reactive_approach_server.py.

list test_pr2_gripper_reactive_approach_server::sideapproachpos = [.63, -.3, table_height-.035+side_tip_dist_to_table]

Definition at line 222 of file test_pr2_gripper_reactive_approach_server.py.

list test_pr2_gripper_reactive_approach_server::sideapproachquat = [.707, .707, 0, 0]

Definition at line 223 of file test_pr2_gripper_reactive_approach_server.py.

int test_pr2_gripper_reactive_approach_server::small_step = 02

Definition at line 225 of file test_pr2_gripper_reactive_approach_server.py.

list test_pr2_gripper_reactive_approach_server::start_angles = [0.]

Definition at line 283 of file test_pr2_gripper_reactive_approach_server.py.

int test_pr2_gripper_reactive_approach_server::table_height = 7239

Definition at line 214 of file test_pr2_gripper_reactive_approach_server.py.

int test_pr2_gripper_reactive_approach_server::tip_dist_to_table = 165

Definition at line 215 of file test_pr2_gripper_reactive_approach_server.py.

test_pr2_gripper_reactive_approach_server::trajectory = None

Definition at line 284 of file test_pr2_gripper_reactive_approach_server.py.

tuple test_pr2_gripper_reactive_approach_server::use_slip_controller = rospy.get_param('/reactive_grasp_node_right/use_slip_detection', 0)

Definition at line 163 of file test_pr2_gripper_reactive_approach_server.py.

tuple test_pr2_gripper_reactive_approach_server::use_slip_detection = rospy.get_param('/reactive_grasp_node_right/use_slip_controller', 0)

Definition at line 162 of file test_pr2_gripper_reactive_approach_server.py.

int test_pr2_gripper_reactive_approach_server::wrist_height = 02

Definition at line 216 of file test_pr2_gripper_reactive_approach_server.py.