Functions
def	move_to_ready
Variables
int	count = 1
tuple	d = math.sqrt((dx * dx) + (dy * dy))
list	dx = obj.object.primitive_poses[0]
list	dy = obj.object.primitive_poses[0]
tuple	find_objects = actionlib.SimpleActionClient("basic_grasping_perception/find_objects", FindGraspableObjectsAction)
tuple	find_result = find_objects.get_result()
tuple	goal = FindGraspableObjectsGoal()
list	grasps = find_result.objects[the_object]
list	height = obj.primitive_poses[0]
list	joint_names
tuple	l = PlaceLocation()
tuple	move_group = MoveGroupInterface("arm", "base_link", plan_only = args.plan)
string	obj_name = "object%d"
tuple	parser = argparse.ArgumentParser(description="Simple demo of pick and place")
tuple	pickplace = PickPlaceInterface("arm", "gripper", plan_only = args.plan, verbose = True)
tuple	places = list()
list	ready_pose = [-1.393150, -0.103543, 0, -1.608378, -0.458660, -0.1, -2.611218]
tuple	scene = PlanningSceneInterface("base_link")
list	support_surface = find_result.objects[the_object]
	the_object = None
float	the_object_dist = 0.35
	wait = False)

Function Documentation

def pick_and_place.move_to_ready ( interface )

Definition at line 52 of file pick_and_place.py.

Variable Documentation

int pick_and_place::count = 1

Definition at line 106 of file pick_and_place.py.

tuple pick_and_place::d = math.sqrt((dx * dx) + (dy * dy))

Definition at line 119 of file pick_and_place.py.

list pick_and_place::dx = obj.object.primitive_poses[0]

Definition at line 117 of file pick_and_place.py.

list pick_and_place::dy = obj.object.primitive_poses[0]

Definition at line 118 of file pick_and_place.py.

tuple pick_and_place::find_objects = actionlib.SimpleActionClient("basic_grasping_perception/find_objects", FindGraspableObjectsAction)

Definition at line 81 of file pick_and_place.py.

tuple pick_and_place::find_result = find_objects.get_result()

Definition at line 90 of file pick_and_place.py.

tuple pick_and_place::goal = FindGraspableObjectsGoal()

Definition at line 86 of file pick_and_place.py.

list pick_and_place::grasps = find_result.objects[the_object]

Definition at line 161 of file pick_and_place.py.

list pick_and_place::height = obj.primitive_poses[0]

Definition at line 131 of file pick_and_place.py.

list pick_and_place::joint_names

Initial value:

00001 ["shoulder_pan_joint", "shoulder_lift_joint", "upperarm_roll_joint",
00002     "elbow_flex_joint", "forearm_roll_joint", "wrist_flex_joint", "wrist_roll_joint"]

Definition at line 48 of file pick_and_place.py.

tuple pick_and_place::l = PlaceLocation()

Definition at line 172 of file pick_and_place.py.

tuple pick_and_place::move_group = MoveGroupInterface("arm", "base_link", plan_only = args.plan)

Definition at line 70 of file pick_and_place.py.

string pick_and_place::obj_name = "object%d"

Definition at line 143 of file pick_and_place.py.

tuple pick_and_place::parser = argparse.ArgumentParser(description="Simple demo of pick and place")

Definition at line 60 of file pick_and_place.py.

tuple pick_and_place::pickplace = PickPlaceInterface("arm", "gripper", plan_only = args.plan, verbose = True)

Definition at line 78 of file pick_and_place.py.

tuple pick_and_place::places = list()