Abstract class for a grasping behavior. More...

Public Member Functions
def	__init__
def	create_goal_pose
	Creates a PoseStamped in the torso_lift_link frame.
def	execute_approach
	Execute the grasping arm motion.
def	get_end_effector_pos
	Returns the position of the end effector.
def	grasp_approach_motion
	Performs motion where arm approaches object.
def	grasp_preparation_move
	virtual functions to be implemented by specific grasp
def	grasp_setup_move
	Move arm to grasp setup, just before approach.
def	grasping_action
	Gripper graping action.
def	is_obj_in_gripper
	Checks to see if anything is in the gripper currently (gripper is not fully closed).
def	jiggle_grasp_params
	Attempt to slightly adjust grasp parameters to get a close configuration which will hopefully find an IK solution.
def	kill_arm_movement
	Takes special care to kill the arm's movement by canceling the action client and accounting for some edge cases.
def	normalize_rot
	Returns same gripper rotation normalized to [0, pi) range.
def	perform_grasp
	Performs full grasping behavior.
def	placing_action
	Gripper placing action.
def	random_generator
	Generate a random behavior parameterization for sampling the workspace of possible grasps.
def	stage_grasp
	Readys arm for grasp motion.
def	transform_in_frame
	Transforms the given position by the offset position in the given quaternion rotation frame.
Public Attributes
	arm
	arm_moving_wait
	cm
	coll_state
	collide
	collided
	GRIPPER_POINT
	start_detection
	stop_detection
	use_coll_detection

Detailed Description

Abstract class for a grasping behavior.

Implements much of the framework for a generic behavior-based grasp and provides virtual template functions for specific behaviors to override.

Definition at line 18 of file grasp_manager.py.

Constructor & Destructor Documentation

def pr2_grasp_behaviors.grasp_manager.GraspBehavior.__init__	(	self,
		arm,
		use_coll_detection = `False`
	)

Definition at line 19 of file grasp_manager.py.

def pr2_grasp_behaviors.grasp_manager.GraspBehavior.create_goal_pose	(	self,
		x,
		y,
		z,
		gripper_pose
	)

Creates a PoseStamped in the torso_lift_link frame.

Definition at line 97 of file grasp_manager.py.

def pr2_grasp_behaviors.grasp_manager.GraspBehavior.execute_approach	(	self,
		block
	)

Execute the grasping arm motion.

Definition at line 61 of file grasp_manager.py.

def pr2_grasp_behaviors.grasp_manager.GraspBehavior.get_end_effector_pos ( self )

Returns the position of the end effector.

Definition at line 107 of file grasp_manager.py.

def pr2_grasp_behaviors.grasp_manager.GraspBehavior.grasp_approach_motion	(	self,
		coll_detect = `False`,
		behavior_name = `""`,
		sig_level = `0.99`
	)

Performs motion where arm approaches object.

Definition at line 145 of file grasp_manager.py.

def pr2_grasp_behaviors.grasp_manager.GraspBehavior.grasp_preparation_move ( self )

virtual functions to be implemented by specific grasp

Move arm to preparatory pose

Definition at line 53 of file grasp_manager.py.

def pr2_grasp_behaviors.grasp_manager.GraspBehavior.grasp_setup_move	(	self,
		params
	)

Move arm to grasp setup, just before approach.

Definition at line 57 of file grasp_manager.py.

def pr2_grasp_behaviors.grasp_manager.GraspBehavior.grasping_action ( self )

Gripper graping action.

Definition at line 187 of file grasp_manager.py.

def pr2_grasp_behaviors.grasp_manager.GraspBehavior.is_obj_in_gripper ( self )

Checks to see if anything is in the gripper currently (gripper is not fully closed).

Definition at line 288 of file grasp_manager.py.

def pr2_grasp_behaviors.grasp_manager.GraspBehavior.jiggle_grasp_params	(	self,
		grasp_params
	)

Attempt to slightly adjust grasp parameters to get a close configuration which will hopefully find an IK solution.

Definition at line 71 of file grasp_manager.py.

def pr2_grasp_behaviors.grasp_manager.GraspBehavior.kill_arm_movement ( self )

Takes special care to kill the arm's movement by canceling the action client and accounting for some edge cases.

Definition at line 118 of file grasp_manager.py.

def pr2_grasp_behaviors.grasp_manager.GraspBehavior.normalize_rot	(	self,
		gripper_rot
	)

Returns same gripper rotation normalized to [0, pi) range.

Definition at line 88 of file grasp_manager.py.

def pr2_grasp_behaviors.grasp_manager.GraspBehavior.perform_grasp	(	self,
		grasp_params,
		is_place = `False`,
		collide = `True`,
		behavior_name = `""`,
		sig_level = `0.99`,
		data_collecting = `False`,
		num_jiggle = `2`,
		publish_state = `lambda x: x`
	)

Performs full grasping behavior.

Parameters:

grasp_params	A tuple containing the parameters for the behavior.
is_place	If False, perform a grasp. If True, perform a place.
collide	Whether or not we should detect for collisions.
data_collecting	If True, only perform the approach motion and return after that.
num_jiggle	How many times the parameters should be jiggled before giving up
publish_state	Callback function which takes a string and publishes the current state