Public Member Functions
def	__init__
def	analyze_push
def	choose_arm
def	choose_singulation_arm
def	choose_singulation_primitive
def	explore_push
def	explore_push_start_locs
def	feedback_sweep_object
def	finish_learning
def	generate_random_table_pose
def	get_feedback_push_initial_obj_pose
def	get_feedback_push_start_pose
def	gripper_feedback_push_object
def	gripper_push_object
def	init_learning
def	init_loc_learning
def	init_singulation
def	initialize_learning_push
def	initialize_singulation_push_vector
def	out_of_workspace
def	overhead_feedback_push_object
def	overhead_push_object
def	perform_push
def	raise_and_look
def	request_feedback_push_start_pose
def	request_learning_analysis
def	request_singulation_push
def	run_push_exploration
def	run_singulation
def	run_start_loc_learning
def	shutdown_hook
def	sweep_object
Public Attributes
	base_trial_id
	goal_y_base_delta
	gripper_feedback_post_push_proxy
	gripper_feedback_post_sweep_proxy
	gripper_feedback_pre_push_proxy
	gripper_feedback_pre_sweep_proxy
	gripper_feedback_push_proxy
	gripper_feedback_sweep_proxy
	gripper_offset_dist
	gripper_post_push_proxy
	gripper_post_sweep_proxy
	gripper_pre_push_proxy
	gripper_pre_sweep_proxy
	gripper_pull_offset_dist
	gripper_pull_start_z
	gripper_push_proxy
	gripper_start_z
	gripper_sweep_proxy
	learn_file_base
	learn_io
	learn_out_file_name
	learning_push_vector_proxy
	max_push_dist
	max_restart_limit
	max_workspace_x
	max_workspace_y
	min_new_pose_dist
	min_push_dist
	min_workspace_x
	min_workspace_y
	num_start_loc_clusters
	overhead_feedback_post_push_proxy
	overhead_feedback_pre_push_proxy
	overhead_feedback_push_proxy
	overhead_offset_dist
	overhead_post_push_proxy
	overhead_pre_push_proxy
	overhead_push_proxy
	overhead_start_z
	pincher_offset_dist
	pincher_start_z
	previous_rand_pose
	push_count
	push_loc_shape_features
	raise_and_look_proxy
	servo_head_during_pushing
	singulation_push_vector_proxy
	start_loc_goal_y_delta
	start_loc_use_fixed_goal
	sweep_face_offset_dist
	sweep_start_z
	sweep_wrist_offset_dist
	table_proxy
	use_learning
	use_overhead_x_thresh
	use_pull_angle_thresh
	use_same_side_x_thresh
	use_same_side_y_thresh
	use_singulation
	use_sweep_angle_thresh

Detailed Description

Definition at line 57 of file tabletop_executive.py.

Constructor & Destructor Documentation

def tabletop_pushing.tabletop_executive.TabletopExecutive.__init__	(	self,
		use_singulation,
		use_learning
	)

Definition at line 59 of file tabletop_executive.py.

Member Function Documentation

def tabletop_pushing.tabletop_executive.TabletopExecutive.analyze_push	(	self,
		behavior_primitive,
		controller_name,
		proxy_name,
		which_arm,
		push_time,
		push_vector_res,
		goal_pose,
		object_id,
		precondition_method = `CENTROID_PUSH_PRECONDITION`
	)

Definition at line 639 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.choose_arm	(	self,
		push_vec,
		controller_name
	)

Definition at line 539 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.choose_singulation_arm	(	self,
		pose_res
	)

Definition at line 576 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.choose_singulation_primitive	(	self,
		pose_res
	)

Definition at line 564 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.explore_push	(	self,
		behavior_primitive,
		controller_name,
		proxy_name,
		object_id,
		precondition_method = `CENTROID_PUSH_PRECONDITION`,
		input_arm = `None`
	)

Definition at line 277 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.explore_push_start_locs	(	self,
		num_pushes_per_sample,
		num_sample_locs,
		behavior_primitive,
		controller_name,
		proxy_name,
		object_id,
		which_arm,
		start_loc_param_path = `''`,
		precondition_method = `CENTROID_PUSH_PRECONDITION`
	)

Definition at line 362 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.feedback_sweep_object	(	self,
		which_arm,
		push_vector,
		goal_pose,
		controller_name,
		proxy_name,
		behavior_primitive,
		high_init = `True`,
		open_gripper = `False`
	)

Definition at line 888 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.finish_learning ( self )

Definition at line 192 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.generate_random_table_pose	(	self,
		init_pose = `None`
	)

Definition at line 1053 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.get_feedback_push_initial_obj_pose ( self )

Definition at line 491 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.get_feedback_push_start_pose	(	self,
		goal_pose,
		controller_name,
		proxy_name,
		behavior_primitive,
		learn_start_loc = `False`,
		new_object = `False`,
		num_clusters = `1`,
		trial_id = `''`,
		num_sample_locs = `1`,
		num_pushes_per_sample = `1`,
		start_loc_param_path = `''`,
		position_worked = `True`
	)

Definition at line 512 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.gripper_feedback_push_object	(	self,
		which_arm,
		push_vector,
		goal_pose,
		controller_name,
		proxy_name,
		behavior_primitive,
		high_init = `True`,
		open_gripper = `False`
	)

Definition at line 825 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.gripper_push_object	(	self,
		push_dist,
		which_arm,
		pose_res,
		high_init
	)

Definition at line 949 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.init_learning ( self )

Definition at line 165 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.init_loc_learning ( self )

Definition at line 179 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.init_singulation ( self )

Definition at line 160 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.initialize_learning_push ( self )

Definition at line 730 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.initialize_singulation_push_vector ( self )

Definition at line 722 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.out_of_workspace	(	self,
		init_pose
	)

Definition at line 1049 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.overhead_feedback_push_object	(	self,
		which_arm,
		push_vector,
		goal_pose,
		controller_name,
		proxy_name,
		behavior_primitive,
		high_init = `True`,
		open_gripper = `False`
	)

Definition at line 776 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.overhead_push_object	(	self,
		push_dist,
		which_arm,
		pose_res,
		high_init
	)

Definition at line 1021 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.perform_push	(	self,
		which_arm,
		behavior_primitive,
		push_vector_res,
		goal_pose,
		controller_name,
		proxy_name,
		high_init = `True`
	)

Definition at line 593 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.raise_and_look	(	self,
		request_table = `True`,
		init_arms = `False`,
		point_head_only = `False`
	)

Definition at line 742 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.request_feedback_push_start_pose	(	self,
		goal_pose,
		controller_name,
		proxy_name,
		behavior_primitive,
		get_pose_only = `False`,
		learn_start_loc = `False`,
		new_object = `False`,
		num_clusters = `1`,
		trial_id = `''`,
		num_sample_locs = `1`,
		num_pushes_per_sample = `1`,
		start_loc_param_path = `''`,
		position_worked = `True`
	)

Definition at line 680 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.request_learning_analysis ( self )

Definition at line 710 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.request_singulation_push	(	self,
		use_guided = `True`
	)

Definition at line 667 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.run_push_exploration	(	self,
		object_id
	)

Definition at line 264 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.run_singulation	(	self,
		num_pushes = `1`,
		use_guided = `True`
	)

Definition at line 197 of file tabletop_executive.py.

def tabletop_pushing.tabletop_executive.TabletopExecutive.run_start_loc_learning	(	self,
		object_id,
		num_pushes_per_sample,
		num_sample_locs,
		start_loc_param_path = `''`
	)