Public Member Functions | Public Attributes | Private Attributes
gripper_stereo_reactive_grasp.GripperStereoReactiveGrasper Class Reference

reactive/guarded movement and grasping with the gripper stereo integrated into the approach More...

Inheritance diagram for gripper_stereo_reactive_grasp.GripperStereoReactiveGrasper:
Inheritance graph
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List of all members.

Public Member Functions

def __init__
def adjust_using_gripper_stereo
def gripper_stereo_grasp_adjust
def gripper_stereo_reactive_approach
def projected_vect_to_obj
def reactive_approach
 reactive approach (stop if unexpected fingertip contact and go around) assumes we are already at the approach pose, going to grasp_pose along the direction approach_dir grasp_pose should be in base_link frame and have found and checked the joint-angle path side_step is how far to move right or left when you hit something num_tries is how many bump-and-moves to try before quitting
def reactive_grasp

Public Attributes

 draw_functions
 stereo_adjusted

Private Attributes

 _gripper_stereo_grasp_adjust_client

Detailed Description

reactive/guarded movement and grasping with the gripper stereo integrated into the approach

Definition at line 64 of file gripper_stereo_reactive_grasp.py.


Constructor & Destructor Documentation

Definition at line 66 of file gripper_stereo_reactive_grasp.py.


Member Function Documentation

def gripper_stereo_reactive_grasp.GripperStereoReactiveGrasper.adjust_using_gripper_stereo (   self,
  grasp_goal,
  approach_dir,
  do_global_search = 1 
)

Definition at line 176 of file gripper_stereo_reactive_grasp.py.

def gripper_stereo_reactive_grasp.GripperStereoReactiveGrasper.gripper_stereo_grasp_adjust (   self,
  grasp_pose,
  do_global_search = 1 
)

Definition at line 99 of file gripper_stereo_reactive_grasp.py.

def gripper_stereo_reactive_grasp.GripperStereoReactiveGrasper.gripper_stereo_reactive_approach (   self,
  approach_dir,
  grasp_pose,
  stop_at_dist = 0.05 
)

Definition at line 116 of file gripper_stereo_reactive_grasp.py.

Definition at line 258 of file gripper_stereo_reactive_grasp.py.

def gripper_stereo_reactive_grasp.GripperStereoReactiveGrasper.reactive_approach (   self,
  approach_dir,
  grasp_pose,
  joint_path = None,
  side_step = .015,
  back_step = .03,
  num_tries = 10,
  goal_pos_thres = 0.01 
)

reactive approach (stop if unexpected fingertip contact and go around) assumes we are already at the approach pose, going to grasp_pose along the direction approach_dir grasp_pose should be in base_link frame and have found and checked the joint-angle path side_step is how far to move right or left when you hit something num_tries is how many bump-and-moves to try before quitting

Definition at line 319 of file gripper_stereo_reactive_grasp.py.

def gripper_stereo_reactive_grasp.GripperStereoReactiveGrasper.reactive_grasp (   self,
  approach_pose,
  grasp_pose,
  joint_path = None,
  side_step = .015,
  back_step = .03,
  approach_num_tries = 10,
  goal_pos_thres = 0.01,
  min_gripper_opening = 0.0021,
  max_gripper_opening = 0.1,
  grasp_num_tries = 2,
  forward_step = 0.03,
  min_contact_row = 1,
  object_name = "points",
  table_name = "table",
  grasp_adjust_x_step = .02,
  grasp_adjust_z_step = .015,
  grasp_adjust_num_tries = 3 
)

Definition at line 336 of file gripper_stereo_reactive_grasp.py.


Member Data Documentation

Definition at line 66 of file gripper_stereo_reactive_grasp.py.

Definition at line 66 of file gripper_stereo_reactive_grasp.py.

Definition at line 66 of file gripper_stereo_reactive_grasp.py.


The documentation for this class was generated from the following file:


pr2_grasp_adjust
Author(s): Adam Leeper
autogenerated on Fri Jan 3 2014 12:00:29