Public Member Functions | |
def | __init__ |
def | call_plan_point_cluster_grasp |
def | call_set_pc_grasp_params |
def | find_grasps |
def | plan_grasps_for_target |
def | plan_sc_grasps_cb |
def | process_point_cloud |
def | sc_grasps_execute_cb |
Private Attributes | |
_as | |
_cluster_grasp_params_srv | |
_cluster_grasp_srv | |
_cluster_planner_name | |
_container_client | |
_opening_dir_list | |
_planning_scene_srv | |
_pregrasp_just_outside_box |
A grasp planning service (and an equivalent action) for finding good top and/or side grasps for objects in clutter, based only on point clouds. The grasp planner works by segmenting clusters of points (in a PointCloud2) within a region of interest that have normals roughly orthogonal to each desired grasp direction, and then running the cluster planner on each cluster in turn to plan grasps.
Definition at line 60 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.__init__ | ( | self, | |
advertise_service = False , |
|||
advertise_action = True |
|||
) |
Definition at line 71 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.call_plan_point_cluster_grasp | ( | self, | |
cluster, | |||
arm_name, | |||
reference_frame_id | |||
) |
call plan_point_cluster_grasp to get candidate grasps for a cluster
Definition at line 201 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.call_set_pc_grasp_params | ( | self, | |
side = False , |
|||
pregrasp_just_outside_box = False |
|||
) |
call the set_point_cluster_grasp_params service with appropriate params
Definition at line 219 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.find_grasps | ( | self, | |
point_cloud, | |||
box_pose, | |||
box_dims, | |||
arm_name, | |||
reference_frame_id, | |||
opening_dir | |||
) |
find grasps on a point cloud inside a bounding box
Definition at line 246 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.plan_grasps_for_target | ( | self, | |
target, | |||
arm_name | |||
) |
return grasps for either a service or action request
Definition at line 153 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.plan_sc_grasps_cb | ( | self, | |
req | |||
) |
service callback for the plan_segmented_clutter_grasps service
Definition at line 134 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.process_point_cloud | ( | self, | |
point_cloud, | |||
box_pose, | |||
box_dims, | |||
opening_dir | |||
) |
call the find_container_action to remove parallel-to-container-side points and cluster the contents
Definition at line 179 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.sc_grasps_execute_cb | ( | self, | |
goal | |||
) |
action callback for the segmented_clutter_grasps_action
Definition at line 144 of file segmented_clutter_grasp_planner.py.
segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner::_as [private] |
Definition at line 71 of file segmented_clutter_grasp_planner.py.
Definition at line 71 of file segmented_clutter_grasp_planner.py.
Definition at line 71 of file segmented_clutter_grasp_planner.py.
Definition at line 71 of file segmented_clutter_grasp_planner.py.
Definition at line 71 of file segmented_clutter_grasp_planner.py.
Definition at line 71 of file segmented_clutter_grasp_planner.py.
Definition at line 71 of file segmented_clutter_grasp_planner.py.
Definition at line 71 of file segmented_clutter_grasp_planner.py.