Public Member Functions
def	__init__
def	detect_closest_object
	Given an (x, y) location on a table, grasp the closest object detected.
def	detect_tabletop_objects
	Uses the object_detection service detect objects on the table.
def	execute_grasping_goal
	Executes grasping goal requested on actionlib srvs.
def	execute_grasping_setup
	Wraps setup_grasp.
def	get_grasp_loc
def	open_gripper
	Open gripper fully.
def	point_head
	Points head at given point in given frame.
def	setup_grasp
	Move the arm to a suitable setup position for moving to a grasp position.
def	start_grasping_server
	Launch actionlib srv calls.
Public Attributes
	arm
	gman
	grasping_server
	setup_server

Detailed Description

Definition at line 33 of file grasp_behavior_server.py.

Constructor & Destructor Documentation

def pr2_grasp_behaviors.grasp_behavior_server.GraspBehaviorServer.__init__	(	self,
		arm,
		grasp_manager
	)

Definition at line 34 of file grasp_behavior_server.py.

def pr2_grasp_behaviors.grasp_behavior_server.GraspBehaviorServer.detect_closest_object	(	self,
		x,
		y,
		repeat = `True`,
		disable_head = `False`
	)

Given an (x, y) location on a table, grasp the closest object detected.

If repeat is True, will keep trying if the grasp fails.

Definition at line 84 of file grasp_behavior_server.py.

def pr2_grasp_behaviors.grasp_behavior_server.GraspBehaviorServer.detect_tabletop_objects ( self )

Uses the object_detection service detect objects on the table.

Returns a list of pairs [ [ x, y, z], rot ] which represent the centers and z orientation of each object detected on the table.

Definition at line 49 of file grasp_behavior_server.py.

def pr2_grasp_behaviors.grasp_behavior_server.GraspBehaviorServer.execute_grasping_goal	(	self,
		goal
	)

Executes grasping goal requested on actionlib srvs.

Actions differ based on type of grasp requested.

Definition at line 189 of file grasp_behavior_server.py.

def pr2_grasp_behaviors.grasp_behavior_server.GraspBehaviorServer.execute_grasping_setup	(	self,
		goal
	)

Wraps setup_grasp.

Definition at line 179 of file grasp_behavior_server.py.

def pr2_grasp_behaviors.grasp_behavior_server.GraspBehaviorServer.get_grasp_loc	(	self,
		obj
	)

Definition at line 78 of file grasp_behavior_server.py.

def pr2_grasp_behaviors.grasp_behavior_server.GraspBehaviorServer.open_gripper	(	self,
		blocking = `False`
	)

Open gripper fully.

Definition at line 40 of file grasp_behavior_server.py.

def pr2_grasp_behaviors.grasp_behavior_server.GraspBehaviorServer.point_head	(	self,
		point,
		velocity = `0.6`,
		frame = `"/torso_lift_link"`,
		block = `True`
	)

Points head at given point in given frame.

Definition at line 132 of file grasp_behavior_server.py.

def pr2_grasp_behaviors.grasp_behavior_server.GraspBehaviorServer.setup_grasp	(	self,
		block = `False`,
		disable_head = `False`,
		open_gripper = `False`
	)