Functions
def	move_to_ready (interface)

Variables
	_colors

	action

	args

int	count = -1

	d = math.sqrt((dx * dx) + (dy * dy))

	default

	dimensions

	dx = obj.object.primitive_poses[0].position.x-args.x

	dy = obj.object.primitive_poses[0].position.y

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

	find_result = find_objects.get_result()

	float

	frame_id

	goal = FindGraspableObjectsGoal()

	grasps = find_result.objects[the_object].grasps

	height = obj.primitive_poses[0].position.z

	help

list	joint_names

	l = PlaceLocation()

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

string	obj_name = "object%d"

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

	pick_result

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

	place_result

	places = list()

	plan_grasps

	pose

	post_place_posture

	post_place_retreat

	pre_place_approach

list	ready_pose = [-1.393150, -0.103543, 0, -1.608378, -0.458660, -0.1, -2.611218]

	scene = PlanningSceneInterface("base_link")

	success

	support_name

	support_surface = find_result.objects[the_object].object.support_surface

	the_object = None

float	the_object_dist = 0.35

	type

	unknown

	wait

	y

Function Documentation

def pick_and_place.move_to_ready ( interface )

Definition at line 52 of file pick_and_place.py.

Variable Documentation

pick_and_place._colors

private

Definition at line 101 of file pick_and_place.py.

pick_and_place.action

Definition at line 61 of file pick_and_place.py.

pick_and_place.args

Definition at line 67 of file pick_and_place.py.

int pick_and_place.count = -1

Definition at line 106 of file pick_and_place.py.

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

Definition at line 119 of file pick_and_place.py.

pick_and_place.default

Definition at line 66 of file pick_and_place.py.

pick_and_place.dimensions

Definition at line 132 of file pick_and_place.py.

pick_and_place.dx = obj.object.primitive_poses[0].position.x-args.x

Definition at line 117 of file pick_and_place.py.

pick_and_place.dy = obj.object.primitive_poses[0].position.y

Definition at line 118 of file pick_and_place.py.

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

Definition at line 81 of file pick_and_place.py.

pick_and_place.find_result = find_objects.get_result()

Definition at line 90 of file pick_and_place.py.

pick_and_place.float

Definition at line 66 of file pick_and_place.py.

pick_and_place.frame_id

Definition at line 174 of file pick_and_place.py.

pick_and_place.goal = FindGraspableObjectsGoal()

Definition at line 86 of file pick_and_place.py.

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

Definition at line 161 of file pick_and_place.py.

pick_and_place.height = obj.primitive_poses[0].position.z

Definition at line 131 of file pick_and_place.py.

pick_and_place.help

Definition at line 61 of file pick_and_place.py.

list pick_and_place.joint_names

Initial value:

1 = ["shoulder_pan_joint", "shoulder_lift_joint", "upperarm_roll_joint",

2 "elbow_flex_joint", "forearm_roll_joint", "wrist_flex_joint", "wrist_roll_joint"]

Definition at line 48 of file pick_and_place.py.

pick_and_place.l = PlaceLocation()

Definition at line 172 of file pick_and_place.py.

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

Definition at line 70 of file pick_and_place.py.

pick_and_place.obj_name = "object%d"

Definition at line 143 of file pick_and_place.py.

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

Definition at line 60 of file pick_and_place.py.

pick_and_place.pick_result

Definition at line 166 of file pick_and_place.py.

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

Definition at line 78 of file pick_and_place.py.

pick_and_place.place_result

Definition at line 194 of file pick_and_place.py.

pick_and_place.places = list()

Definition at line 171 of file pick_and_place.py.

pick_and_place.plan_grasps

Definition at line 87 of file pick_and_place.py.

pick_and_place.pose

Definition at line 173 of file pick_and_place.py.

pick_and_place.post_place_posture

Definition at line 178 of file pick_and_place.py.

pick_and_place.post_place_retreat

Definition at line 180 of file pick_and_place.py.

pick_and_place.pre_place_approach

Definition at line 179 of file pick_and_place.py.

list pick_and_place.ready_pose = [-1.393150, -0.103543, 0, -1.608378, -0.458660, -0.1, -2.611218]

Definition at line 50 of file pick_and_place.py.

pick_and_place.scene = PlanningSceneInterface("base_link")

Definition at line 77 of file pick_and_place.py.

pick_and_place.success

Definition at line 166 of file pick_and_place.py.

pick_and_place.support_name

Definition at line 166 of file pick_and_place.py.

pick_and_place.support_surface = find_result.objects[the_object].object.support_surface

Definition at line 162 of file pick_and_place.py.

pick_and_place.the_object = None

Definition at line 104 of file pick_and_place.py.

pick_and_place.the_object_dist = 0.35

Definition at line 105 of file pick_and_place.py.

pick_and_place.type

Definition at line 66 of file pick_and_place.py.

pick_and_place.unknown

Definition at line 67 of file pick_and_place.py.

pick_and_place.wait

Definition at line 112 of file pick_and_place.py.

pick_and_place.y

Definition at line 176 of file pick_and_place.py.

Functions

Variables

Function Documentation

Variable Documentation