Classes |
| class | pr2_gripper_reactive_approach::reactive_grasp::Aborted |
| | abort exception More...
|
| class | pr2_gripper_reactive_approach::reactive_grasp::ReactiveGrasper |
| | reactive/guarded movement and grasping More...
|
Namespaces |
| namespace | pr2_gripper_reactive_approach::reactive_grasp |
| namespace | reactive_grasp |
| | Reactive grasping based on fingertip readings.
|
Functions |
| def | pr2_gripper_reactive_approach::reactive_grasp::keypause |
| | pause for input
|
Variables |
| tuple | pr2_gripper_reactive_approach::reactive_grasp::approach_dir = rg.compute_approach_dir(current_pose, new_grasp_pose) |
| tuple | pr2_gripper_reactive_approach::reactive_grasp::c = keypause() |
| tuple | pr2_gripper_reactive_approach::reactive_grasp::cm = controller_manager.ControllerManager('r') |
| tuple | pr2_gripper_reactive_approach::reactive_grasp::current_angles = cm.get_current_arm_angles() |
| tuple | pr2_gripper_reactive_approach::reactive_grasp::current_pose = rg.cm.get_current_wrist_pose_stamped() |
| | pr2_gripper_reactive_approach::reactive_grasp::currentgoal = pos+rot |
| int | pr2_gripper_reactive_approach::reactive_grasp::forward_step = 02 |
| int | pr2_gripper_reactive_approach::reactive_grasp::grasp_num_tries = 2 |
| int | pr2_gripper_reactive_approach::reactive_grasp::max_joint_vel = 05 |
| string | pr2_gripper_reactive_approach::reactive_grasp::mode = 'none' |
| tuple | pr2_gripper_reactive_approach::reactive_grasp::new_grasp_pose = rg.return_rel_pose(top_approach_vect, 'base_link') |
| 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) |
| tuple | pr2_gripper_reactive_approach::reactive_grasp::rg = ReactiveGrasper(cm) |
| tuple | pr2_gripper_reactive_approach::reactive_grasp::side_approach_pose = create_pose_stamped(sideapproachpos+sideapproachquat) |
| tuple | pr2_gripper_reactive_approach::reactive_grasp::side_approach_vect = rg.compute_approach_vect(side_approach_pose, side_grasp_pose) |
| tuple | pr2_gripper_reactive_approach::reactive_grasp::side_grasp_pose = create_pose_stamped(sidegrasppos+sideapproachquat) |
| int | pr2_gripper_reactive_approach::reactive_grasp::side_tip_dist_to_table = 14 |
| list | pr2_gripper_reactive_approach::reactive_grasp::sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, 1.355] |
| tuple | pr2_gripper_reactive_approach::reactive_grasp::sideapproachmat |
| list | pr2_gripper_reactive_approach::reactive_grasp::sideapproachpos = [.63, -.3, table_height-.035+side_tip_dist_to_table] |
| tuple | pr2_gripper_reactive_approach::reactive_grasp::sideapproachquat = list(tf.transformations.quaternion_from_matrix(sideapproachmat)) |
| list | pr2_gripper_reactive_approach::reactive_grasp::sidegrasppos = sideapproachpos[:] |
| int | pr2_gripper_reactive_approach::reactive_grasp::small_step = 1 |
| | pr2_gripper_reactive_approach::reactive_grasp::start_angles = sideangles |
| int | pr2_gripper_reactive_approach::reactive_grasp::step_size = 01 |
| int | pr2_gripper_reactive_approach::reactive_grasp::table_height = 7239 |
| int | pr2_gripper_reactive_approach::reactive_grasp::tiltangle = 18 |
| int | pr2_gripper_reactive_approach::reactive_grasp::tip_dist_to_table = 12 |
| tuple | pr2_gripper_reactive_approach::reactive_grasp::top_approach_pose = create_pose_stamped(topapproachpos+topapproachquat) |
| tuple | pr2_gripper_reactive_approach::reactive_grasp::top_approach_vect = rg.compute_approach_vect(top_approach_pose, top_grasp_pose) |
| tuple | pr2_gripper_reactive_approach::reactive_grasp::top_grasp_pose = create_pose_stamped(topgrasppos+topapproachquat) |
| list | pr2_gripper_reactive_approach::reactive_grasp::topapproachpos = [.52, -.05, wrist_height+.1] |
| list | pr2_gripper_reactive_approach::reactive_grasp::topapproachquat = [-0.5, 0.5, 0.5, 0.5] |
| list | pr2_gripper_reactive_approach::reactive_grasp::topgrasppos = topapproachpos[:] |
| int | pr2_gripper_reactive_approach::reactive_grasp::wrist_height = 02 |
