Public Member Functions | Public Attributes | Private Attributes | Static Private Attributes
reactive_grasp_server.ReactiveGraspActionServer Class Reference

Class for the reactive grasp actions and services. More...

List of all members.

Public Member Functions

def __init__
def compliant_close_callback
 do a compliant close using the fingertip sensors (stops at the first detected contact and moves the arm so that the contact stays in place)
def grasp_adjustment_callback
 do a grasp adjustment using the fingertip sensors (tries to move the hand to obtain non-tip and non-edge contacts)
def init_reactive_grasp
 pull relevant parts out of the goal for both reactive grasp and approach
def reactive_approach_cb
 do a reactive approach using the fingertip sensors (backs up and moves to the side if a fingertip contacts on the way to the grasp)
def reactive_grasp_cb
 do a reactive grasp using the fingertip sensors (backs up and moves to the side if a fingertip contacts on the way to the grasp, closes compliantly, tries approach and grasp again if gripper opening is not within bounds)
def reactive_lift_cb
 do a reactive lift using the fingertip sensors (uses slip-servoing to exert just enough force to grasp and lift)
def reactive_place_cb
 do a reactive place using the fingertip sensors and accelerometer (uses slip controller to stop and open when the object hits the table) if slip controller is not running, just goes past the goal with the Cartesian controller

Public Attributes

 approach_num_tries
 back_step
 close_force
 cm
 forward_step
 goal_pos_thres
 grasp_adjust_num_tries
 grasp_adjust_x_step
 grasp_adjust_z_step
 grasp_num_tries
 max_gripper_opening
 min_contact_row
 min_gripper_opening
 pause_for_recording
 place_angle_max_diff
 place_overshoot
 rg
 rg_state
 shake_object
 side_step
 use_slip_controller
 use_slip_detection
 which_arm

Private Attributes

 _action_name
 _approach_action_name
 _approach_as
 _as
 _lift_action_name
 _lift_as
 _node_name
 _place_action_name
 _place_as

Static Private Attributes

tuple _grasp_result = ReactiveGraspResult()
tuple _lift_result = ReactiveLiftResult()
tuple _place_result = ReactivePlaceResult()

Detailed Description

Class for the reactive grasp actions and services.

Definition at line 120 of file reactive_grasp_server.py.


Constructor & Destructor Documentation

Definition at line 125 of file reactive_grasp_server.py.


Member Function Documentation

do a compliant close using the fingertip sensors (stops at the first detected contact and moves the arm so that the contact stays in place)

Definition at line 441 of file reactive_grasp_server.py.

do a grasp adjustment using the fingertip sensors (tries to move the hand to obtain non-tip and non-edge contacts)

Definition at line 455 of file reactive_grasp_server.py.

pull relevant parts out of the goal for both reactive grasp and approach

Definition at line 256 of file reactive_grasp_server.py.

do a reactive approach using the fingertip sensors (backs up and moves to the side if a fingertip contacts on the way to the grasp)

Definition at line 306 of file reactive_grasp_server.py.

do a reactive grasp using the fingertip sensors (backs up and moves to the side if a fingertip contacts on the way to the grasp, closes compliantly, tries approach and grasp again if gripper opening is not within bounds)

Definition at line 206 of file reactive_grasp_server.py.

do a reactive lift using the fingertip sensors (uses slip-servoing to exert just enough force to grasp and lift)

Definition at line 351 of file reactive_grasp_server.py.

do a reactive place using the fingertip sensors and accelerometer (uses slip controller to stop and open when the object hits the table) if slip controller is not running, just goes past the goal with the Cartesian controller

Definition at line 409 of file reactive_grasp_server.py.


Member Data Documentation

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Definition at line 125 of file reactive_grasp_server.py.

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Definition at line 125 of file reactive_grasp_server.py.

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Definition at line 125 of file reactive_grasp_server.py.

Definition at line 125 of file reactive_grasp_server.py.

Definition at line 125 of file reactive_grasp_server.py.

Definition at line 125 of file reactive_grasp_server.py.


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


pr2_gripper_reactive_approach
Author(s): Kaijen Hsiao
autogenerated on Mon Oct 6 2014 12:27:12