Namespaces |
| namespace | run_experiments |
Functions |
| def | run_experiments.call_empty_service |
| def | run_experiments.call_find_cluster_bounding_box |
| | call find_cluster_bounding_box to get the bounding box for a cluster
|
| def | run_experiments.call_reactive_approach |
| def | run_experiments.call_reactive_grasp |
| def | run_experiments.call_reactive_lift |
| def | run_experiments.call_reactive_place |
| def | run_experiments.call_tabletop_detection |
| def | run_experiments.do_adjust |
| def | run_experiments.find_farthest_box |
| def | run_experiments.keypause |
| def | run_experiments.move_arm_to_side |
| def | run_experiments.move_cartesian_step |
| def | run_experiments.return_current_pose_as_list |
| def | run_experiments.return_rel_pose |
| | convert a relative vector in frame to a pose in the base_link frame if start_pose is not specified, uses current pose of the wrist
|
| def | run_experiments.side_to_approach_joint |
| def | run_experiments.try_hard_to_move_joint |
Variables |
| string | run_experiments.approach_type = 'top' |
| list | run_experiments.approachpos = [.52, -.05, wrist_height+.1] |
| list | run_experiments.approachquat = [0.5, 0.5, -0.5, 0.5] |
| tuple | run_experiments.bounding_box_srv = rospy.ServiceProxy('/find_cluster_bounding_box', FindClusterBoundingBox) |
| tuple | run_experiments.c = keypause() |
| tuple | run_experiments.cc_srv = rospy.ServiceProxy("r_reactive_grasp/compliant_close", Empty) |
| tuple | run_experiments.cm |
| tuple | run_experiments.col_map_interface = collision_map_interface.CollisionMapInterface() |
| list | run_experiments.current_goal = approachpos[:] |
| tuple | run_experiments.detect_srv = rospy.ServiceProxy("object_detection", TabletopDetection) |
| tuple | run_experiments.draw_functions = object_manipulator.draw_functions.DrawFunctions('grasp_markers') |
| tuple | run_experiments.draw_sphere_mat = scipy.matrix(scipy.identity(4)) |
| tuple | run_experiments.error_code = cm.move_arm_pose(pregrasp_pose, blocking = 1) |
| tuple | run_experiments.farthest_point = find_farthest_box(box_poses, box_dims, farthest_point_axis) |
| list | run_experiments.farthest_point_axis = [0,0,1] |
| tuple | run_experiments.ga_srv = rospy.ServiceProxy("r_reactive_grasp/grasp_adjustment", Empty) |
| tuple | run_experiments.grasp_pose = return_rel_pose(cm, [.1, 0, 0], 'r_wrist_roll_link') |
| list | run_experiments.joint_names |
| tuple | run_experiments.lift = GripperTranslation() |
| list | run_experiments.place_goal = current_goal[:] |
| tuple | run_experiments.place_pose = create_pose_stamped(place_goal) |
| tuple | run_experiments.pregrasp_pose = create_pose_stamped(approachpos+approachquat) |
| tuple | run_experiments.ra_ac |
| tuple | run_experiments.result = call_reactive_grasp(rg_ac, grasp_pose, trajectory) |
| tuple | run_experiments.rg_ac |
| tuple | run_experiments.rl_ac |
| tuple | run_experiments.rp_ac |
| int | run_experiments.side_tip_dist_to_table = 06 |
| list | run_experiments.sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, -1.787] |
| list | run_experiments.sideapproachpos = [.50, -.3, table_height-.035+side_tip_dist_to_table] |
| list | run_experiments.sideapproachquat = [.707, .707, 0, 0] |
| int | run_experiments.small_step = 02 |
| list | run_experiments.start_angles = [0.] |
| int | run_experiments.table_height = 7239 |
| int | run_experiments.tip_dist_to_table = 18 |
| | run_experiments.trajectory = None |
| tuple | run_experiments.use_slip_controller = rospy.get_param('/reactive_grasp_node_right/use_slip_detection', 0) |
| tuple | run_experiments.use_slip_detection = rospy.get_param('/reactive_grasp_node_right/use_slip_controller', 0) |
| int | run_experiments.wrist_height = 02 |