pr2_grasp_behaviors.overhead_grasp_behavior.OverheadGrasp Class Reference

Inheritance diagram for pr2_grasp_behaviors.overhead_grasp_behavior.OverheadGrasp:

List of all members.

Public Member Functions
def	__init__
def	execute_approach
def	execute_retreat
def	grasp_preparation_move
def	grasp_setup_move
def	jiggle_grasp_params
	Attempt to slightly adjust grasp parameters to get a close configuration which will hopefully find an IK solution.
def	overhead_gripper_quat
	Returns a quaternion for the gripper pose given a gripper rotation.
def	random_generator
	Return random grasp configuration in entire space.
Public Attributes
	arm
	BIAS_RADIUS
	GRASP_DIST
	GRASP_TIME
	GRASP_VELOCITY
	HOVER_Z
	JIGGLE_RESOLUTION
	JOINTS_BIAS
	SETUP_VELOCITY
	tool_rot_quat
	xyrp

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Detailed Description

Definition at line 14 of file overhead_grasp_behavior.py.

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Constructor & Destructor Documentation

def pr2_grasp_behaviors.overhead_grasp_behavior.OverheadGrasp.__init__	(		self,
			arm,
			use_coll_detection = False
	)

Definition at line 15 of file overhead_grasp_behavior.py.

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Member Function Documentation

def pr2_grasp_behaviors.overhead_grasp_behavior.OverheadGrasp.execute_approach	(		self,
			block
	)

Definition at line 49 of file overhead_grasp_behavior.py.

def pr2_grasp_behaviors.overhead_grasp_behavior.OverheadGrasp.execute_retreat

(

self

)

Definition at line 62 of file overhead_grasp_behavior.py.

def pr2_grasp_behaviors.overhead_grasp_behavior.OverheadGrasp.grasp_preparation_move

(

self

)

Definition at line 30 of file overhead_grasp_behavior.py.

def pr2_grasp_behaviors.overhead_grasp_behavior.OverheadGrasp.grasp_setup_move	(		self,
			params
	)

Definition at line 39 of file overhead_grasp_behavior.py.

def pr2_grasp_behaviors.overhead_grasp_behavior.OverheadGrasp.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 81 of file overhead_grasp_behavior.py.

def pr2_grasp_behaviors.overhead_grasp_behavior.OverheadGrasp.overhead_gripper_quat	(		self,
			gripper_roll,
			gripper_pitch = 0.
	)

Returns a quaternion for the gripper pose given a gripper rotation.

Definition at line 96 of file overhead_grasp_behavior.py.

def pr2_grasp_behaviors.overhead_grasp_behavior.OverheadGrasp.random_generator

(

self

)

Return random grasp configuration in entire space.

Definition at line 71 of file overhead_grasp_behavior.py.

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Member Data Documentation

pr2_grasp_behaviors::overhead_grasp_behavior.OverheadGrasp::arm

Definition at line 30 of file overhead_grasp_behavior.py.

pr2_grasp_behaviors::overhead_grasp_behavior.OverheadGrasp::BIAS_RADIUS

Definition at line 15 of file overhead_grasp_behavior.py.

pr2_grasp_behaviors::overhead_grasp_behavior.OverheadGrasp::GRASP_DIST

Definition at line 15 of file overhead_grasp_behavior.py.

pr2_grasp_behaviors::overhead_grasp_behavior.OverheadGrasp::GRASP_TIME

Definition at line 15 of file overhead_grasp_behavior.py.

pr2_grasp_behaviors::overhead_grasp_behavior.OverheadGrasp::GRASP_VELOCITY

Definition at line 15 of file overhead_grasp_behavior.py.

pr2_grasp_behaviors::overhead_grasp_behavior.OverheadGrasp::HOVER_Z

Definition at line 15 of file overhead_grasp_behavior.py.

pr2_grasp_behaviors::overhead_grasp_behavior.OverheadGrasp::JIGGLE_RESOLUTION

Definition at line 15 of file overhead_grasp_behavior.py.

pr2_grasp_behaviors::overhead_grasp_behavior.OverheadGrasp::JOINTS_BIAS

Definition at line 15 of file overhead_grasp_behavior.py.

pr2_grasp_behaviors::overhead_grasp_behavior.OverheadGrasp::SETUP_VELOCITY

Definition at line 15 of file overhead_grasp_behavior.py.

pr2_grasp_behaviors::overhead_grasp_behavior.OverheadGrasp::tool_rot_quat

Definition at line 39 of file overhead_grasp_behavior.py.

pr2_grasp_behaviors::overhead_grasp_behavior.OverheadGrasp::xyrp

Definition at line 39 of file overhead_grasp_behavior.py.

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The documentation for this class was generated from the following file:

• overhead_grasp_behavior.py