Classes | Functions | Variables
pr2_gripper_reactive_approach::reactive_grasp Namespace Reference

Classes

class  Aborted
 abort exception More...
class  ReactiveGrasper
 reactive/guarded movement and grasping More...

Functions

def keypause
 pause for input

Variables

tuple approach_dir = rg.compute_approach_dir(current_pose, new_grasp_pose)
tuple c = keypause()
tuple cm = controller_manager.ControllerManager('r')
tuple current_angles = cm.get_current_arm_angles()
tuple current_pose = rg.cm.get_current_wrist_pose_stamped()
 currentgoal = pos+rot
int forward_step = 02
int grasp_num_tries = 2
int max_joint_vel = 05
string mode = 'none'
tuple new_grasp_pose = rg.return_rel_pose(top_approach_vect, 'base_link')
tuple result = rg.reactive_grasp(current_pose, new_grasp_pose, forward_step = forward_step, grasp_num_tries = grasp_num_tries)
tuple rg = ReactiveGrasper(cm)
tuple side_approach_pose = create_pose_stamped(sideapproachpos+sideapproachquat)
tuple side_approach_vect = rg.compute_approach_vect(side_approach_pose, side_grasp_pose)
tuple side_grasp_pose = create_pose_stamped(sidegrasppos+sideapproachquat)
int side_tip_dist_to_table = 14
list sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, 1.355]
tuple sideapproachmat
list sideapproachpos = [.63, -.3, table_height-.035+side_tip_dist_to_table]
tuple sideapproachquat = list(tf.transformations.quaternion_from_matrix(sideapproachmat))
list sidegrasppos = sideapproachpos[:]
int small_step = 1
 start_angles = sideangles
int step_size = 01
int table_height = 7239
int tiltangle = 18
int tip_dist_to_table = 12
tuple top_approach_pose = create_pose_stamped(topapproachpos+topapproachquat)
tuple top_approach_vect = rg.compute_approach_vect(top_approach_pose, top_grasp_pose)
tuple top_grasp_pose = create_pose_stamped(topgrasppos+topapproachquat)
list topapproachpos = [.52, -.05, wrist_height+.1]
list topapproachquat = [-0.5, 0.5, 0.5, 0.5]
list topgrasppos = topapproachpos[:]
int wrist_height = 02

Function Documentation

pause for input

Definition at line 60 of file reactive_grasp.py.


Variable Documentation

Definition at line 1543 of file reactive_grasp.py.

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Definition at line 1407 of file reactive_grasp.py.

Definition at line 1534 of file reactive_grasp.py.

tuple pr2_gripper_reactive_approach::reactive_grasp::current_pose = rg.cm.get_current_wrist_pose_stamped()

Definition at line 1520 of file reactive_grasp.py.

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Definition at line 1436 of file reactive_grasp.py.

list pr2_gripper_reactive_approach::reactive_grasp::sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, 1.355]

Definition at line 1435 of file reactive_grasp.py.

Initial value:
00001 scipy.array([[0., -1., 0., 0.],  
00002                                  [math.cos(tiltangle), 0., math.sin(tiltangle), 0.],
00003                                  [-math.sin(tiltangle), 0., math.cos(tiltangle), 0.],
00004                                  [0., 0., 0., 1.]])

Definition at line 1439 of file reactive_grasp.py.

Definition at line 1443 of file reactive_grasp.py.

tuple pr2_gripper_reactive_approach::reactive_grasp::sideapproachquat = list(tf.transformations.quaternion_from_matrix(sideapproachmat))

Definition at line 1444 of file reactive_grasp.py.

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Definition at line 1425 of file reactive_grasp.py.



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