Class for the reactive grasp actions and services. More...

Public Member Functions
def	__init__
def	compliant_close_callback
	do a compliant close using the fingertip sensors (stops at the first detected contact and moves the arm so that the contact stays in place)
def	grasp_adjustment_callback
	do a grasp adjustment using the fingertip sensors (tries to move the hand to obtain non-tip and non-edge contacts)
def	init_reactive_grasp
	pull relevant parts out of the goal for both reactive grasp and approach
def	reactive_approach_cb
	do a reactive approach using the fingertip sensors (backs up and moves to the side if a fingertip contacts on the way to the grasp)
def	reactive_grasp_cb
	do a reactive grasp using the fingertip sensors (backs up and moves to the side if a fingertip contacts on the way to the grasp, closes compliantly, tries approach and grasp again if gripper opening is not within bounds)
def	reactive_lift_cb
	do a reactive lift using the fingertip sensors (uses slip-servoing to exert just enough force to grasp and lift)
def	reactive_place_cb
	do a reactive place using the fingertip sensors and accelerometer (uses slip controller to stop and open when the object hits the table) if slip controller is not running, just goes past the goal with the Cartesian controller
Public Attributes
	approach_num_tries
	back_step
	close_force
	cm
	forward_step
	goal_pos_thres
	grasp_adjust_num_tries
	grasp_adjust_x_step
	grasp_adjust_z_step
	grasp_num_tries
	max_gripper_opening
	min_contact_row
	min_gripper_opening
	pause_for_recording
	place_angle_max_diff
	place_overshoot
	rg
	rg_state
	shake_object
	side_step
	use_slip_controller
	use_slip_detection
	which_arm
Private Attributes
	_action_name
	_approach_action_name
	_approach_as
	_as
	_lift_action_name
	_lift_as
	_node_name
	_place_action_name
	_place_as
Static Private Attributes
tuple	_grasp_result = ReactiveGraspResult()
tuple	_lift_result = ReactiveLiftResult()
tuple	_place_result = ReactivePlaceResult()

Detailed Description

Class for the reactive grasp actions and services.

Definition at line 120 of file reactive_grasp_server.py.

Constructor & Destructor Documentation

def reactive_grasp_server.ReactiveGraspActionServer.__init__	(	self,
		which_arm
	)

Definition at line 125 of file reactive_grasp_server.py.

Member Function Documentation

def reactive_grasp_server.ReactiveGraspActionServer.compliant_close_callback	(	self,
		req
	)

do a compliant close using the fingertip sensors (stops at the first detected contact and moves the arm so that the contact stays in place)

Definition at line 441 of file reactive_grasp_server.py.

def reactive_grasp_server.ReactiveGraspActionServer.grasp_adjustment_callback	(	self,
		req
	)

do a grasp adjustment using the fingertip sensors (tries to move the hand to obtain non-tip and non-edge contacts)

Definition at line 455 of file reactive_grasp_server.py.

def reactive_grasp_server.ReactiveGraspActionServer.init_reactive_grasp	(	self,
		goal
	)

pull relevant parts out of the goal for both reactive grasp and approach

Definition at line 256 of file reactive_grasp_server.py.

def reactive_grasp_server.ReactiveGraspActionServer.reactive_approach_cb	(	self,
		goal
	)

do a reactive approach using the fingertip sensors (backs up and moves to the side if a fingertip contacts on the way to the grasp)

Definition at line 306 of file reactive_grasp_server.py.

def reactive_grasp_server.ReactiveGraspActionServer.reactive_grasp_cb	(	self,
		goal
	)

do a reactive grasp using the fingertip sensors (backs up and moves to the side if a fingertip contacts on the way to the grasp, closes compliantly, tries approach and grasp again if gripper opening is not within bounds)

Definition at line 206 of file reactive_grasp_server.py.

def reactive_grasp_server.ReactiveGraspActionServer.reactive_lift_cb	(	self,
		goal
	)

do a reactive lift using the fingertip sensors (uses slip-servoing to exert just enough force to grasp and lift)

Definition at line 351 of file reactive_grasp_server.py.

def reactive_grasp_server.ReactiveGraspActionServer.reactive_place_cb	(	self,
		goal
	)

do a reactive place using the fingertip sensors and accelerometer (uses slip controller to stop and open when the object hits the table) if slip controller is not running, just goes past the goal with the Cartesian controller

Definition at line 409 of file reactive_grasp_server.py.