openrave_grasp_planner Namespace Reference

Classes
class	FastGrasping
Functions
def	CreateTarget
def	GraspPlanning
def	SetGraspParameters
def	trimeshFromPointCloud
def	UpdateRobotJoints
Variables
string	__author__ = 'Rosen Diankov'
string	__copyright__ = 'Copyright (C) 2010 Rosen Diankov (rosen.diankov@gmail.com)'
string	__license__ = 'Apache License, Version 2.0'
tuple	ab = robot.ComputeAABB()
tuple	basemanip = interfaces.BaseManipulation(robot)
tuple	collisionmap = RaveCreateSensorSystem(env,'CollisionMap bodyoffset %s topic %s'%(robot.GetName(),options.collision_map))
tuple	env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=False)
tuple	envlock = threading.Lock()
tuple	grasper = interfaces.Grasper(robot)
tuple	graspparameters = orrosplanning.srv.SetGraspParametersRequest()
tuple	ground = RaveCreateKinBody(env,'')
string	help = 'scene to load (default=%default)'
tuple	ipshell = IPShellEmbed(argv='',banner = 'Dropping into IPython',exit_msg = 'Leaving Interpreter, back to program.')
tuple	listener = tf.TransformListener()
string	namespace = 'openrave'
tuple	parser = OptionParser(description='openrave planning example')
tuple	robot = env.GetRobots()
tuple	s = rospy.Service('GraspPlanning', object_manipulation_msgs.srv.GraspPlanning, GraspPlanning)
tuple	sparameters = rospy.Service('SetGraspParameters', orrosplanning.srv.SetGraspParameters, SetGraspParameters)
tuple	sub = rospy.Subscriber("/joint_states", sensor_msgs.msg.JointState, UpdateRobotJoints,queue_size=1)
tuple	values = robot.GetDOFValues()

---

Function Documentation

def openrave_grasp_planner.CreateTarget

(

graspableobject

)

Definition at line 250 of file openrave_grasp_planner.py.

def openrave_grasp_planner.GraspPlanning

(

req

)

Definition at line 271 of file openrave_grasp_planner.py.

def openrave_grasp_planner.SetGraspParameters

(

req

)

Definition at line 353 of file openrave_grasp_planner.py.

def openrave_grasp_planner.trimeshFromPointCloud

(

pointcloud

)

Definition at line 228 of file openrave_grasp_planner.py.

def openrave_grasp_planner.UpdateRobotJoints

(

msg

)

Definition at line 219 of file openrave_grasp_planner.py.

---

Variable Documentation

string openrave_grasp_planner::__author__ = 'Rosen Diankov'

Definition at line 16 of file openrave_grasp_planner.py.

string openrave_grasp_planner::__copyright__ = 'Copyright (C) 2010 Rosen Diankov (rosen.diankov@gmail.com)'

Definition at line 17 of file openrave_grasp_planner.py.

string openrave_grasp_planner::__license__ = 'Apache License, Version 2.0'

Definition at line 18 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::ab = robot.ComputeAABB()

Definition at line 204 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::basemanip = interfaces.BaseManipulation(robot)

Definition at line 214 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::collisionmap = RaveCreateSensorSystem(env,'CollisionMap bodyoffset %s topic %s'%(robot.GetName(),options.collision_map))

Definition at line 213 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=False)

Definition at line 181 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::envlock = threading.Lock()

Definition at line 189 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::grasper = interfaces.Grasper(robot)

Definition at line 215 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::graspparameters = orrosplanning.srv.SetGraspParametersRequest()

Definition at line 188 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::ground = RaveCreateKinBody(env,'')

Definition at line 205 of file openrave_grasp_planner.py.

string openrave_grasp_planner::help = 'scene to load (default=%default)'

Definition at line 169 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::ipshell = IPShellEmbed(argv='',banner = 'Dropping into IPython',exit_msg = 'Leaving Interpreter, back to program.')

Definition at line 373 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::listener = tf.TransformListener()

Definition at line 217 of file openrave_grasp_planner.py.

string openrave_grasp_planner::namespace = 'openrave'

Definition at line 184 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::parser = OptionParser(description='openrave planning example')

Definition at line 166 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::robot = env.GetRobots()

Definition at line 194 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::s = rospy.Service('GraspPlanning', object_manipulation_msgs.srv.GraspPlanning, GraspPlanning)

Definition at line 360 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::sparameters = rospy.Service('SetGraspParameters', orrosplanning.srv.SetGraspParameters, SetGraspParameters)

Definition at line 361 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::sub = rospy.Subscriber("/joint_states", sensor_msgs.msg.JointState, UpdateRobotJoints,queue_size=1)

Definition at line 359 of file openrave_grasp_planner.py.

tuple openrave_grasp_planner::values = robot.GetDOFValues()

Definition at line 218 of file openrave_grasp_planner.py.