pause for input
Definition at line 60 of file reactive_grasp.py.
tuple pr2_gripper_reactive_approach::reactive_grasp::approach_dir = rg.compute_approach_dir(current_pose, new_grasp_pose) |
Definition at line 1543 of file reactive_grasp.py.
Definition at line 1475 of file reactive_grasp.py.
Definition at line 1407 of file reactive_grasp.py.
tuple pr2_gripper_reactive_approach::reactive_grasp::current_angles = cm.get_current_arm_angles() |
Definition at line 1534 of file reactive_grasp.py.
tuple pr2_gripper_reactive_approach::reactive_grasp::current_pose = rg.cm.get_current_wrist_pose_stamped() |
Definition at line 1520 of file reactive_grasp.py.
Definition at line 1458 of file reactive_grasp.py.
Definition at line 1524 of file reactive_grasp.py.
Definition at line 1523 of file reactive_grasp.py.
Definition at line 1480 of file reactive_grasp.py.
string pr2_gripper_reactive_approach::reactive_grasp::mode = 'none' |
Definition at line 1455 of file reactive_grasp.py.
tuple pr2_gripper_reactive_approach::reactive_grasp::new_grasp_pose = rg.return_rel_pose(top_approach_vect, 'base_link') |
Definition at line 1522 of file reactive_grasp.py.
tuple pr2_gripper_reactive_approach::reactive_grasp::result = rg.reactive_grasp(current_pose, new_grasp_pose, forward_step = forward_step, grasp_num_tries = grasp_num_tries) |
Definition at line 1547 of file reactive_grasp.py.
Definition at line 1414 of file reactive_grasp.py.
tuple pr2_gripper_reactive_approach::reactive_grasp::side_approach_pose = create_pose_stamped(sideapproachpos+sideapproachquat) |
Definition at line 1448 of file reactive_grasp.py.
tuple pr2_gripper_reactive_approach::reactive_grasp::side_approach_vect = rg.compute_approach_vect(side_approach_pose, side_grasp_pose) |
Definition at line 1453 of file reactive_grasp.py.
tuple pr2_gripper_reactive_approach::reactive_grasp::side_grasp_pose = create_pose_stamped(sidegrasppos+sideapproachquat) |
Definition at line 1449 of file reactive_grasp.py.
Definition at line 1436 of file reactive_grasp.py.
list pr2_gripper_reactive_approach::reactive_grasp::sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, 1.355] |
Definition at line 1435 of file reactive_grasp.py.
00001 scipy.array([[0., -1., 0., 0.], 00002 [math.cos(tiltangle), 0., math.sin(tiltangle), 0.], 00003 [-math.sin(tiltangle), 0., math.cos(tiltangle), 0.], 00004 [0., 0., 0., 1.]])
Definition at line 1439 of file reactive_grasp.py.
list pr2_gripper_reactive_approach::reactive_grasp::sideapproachpos = [.63, -.3, table_height-.035+side_tip_dist_to_table] |
Definition at line 1443 of file reactive_grasp.py.
tuple pr2_gripper_reactive_approach::reactive_grasp::sideapproachquat = list(tf.transformations.quaternion_from_matrix(sideapproachmat)) |
Definition at line 1444 of file reactive_grasp.py.
Definition at line 1445 of file reactive_grasp.py.
Definition at line 1460 of file reactive_grasp.py.
Definition at line 1437 of file reactive_grasp.py.
Definition at line 1479 of file reactive_grasp.py.
Definition at line 1423 of file reactive_grasp.py.
Definition at line 1438 of file reactive_grasp.py.
Definition at line 1424 of file reactive_grasp.py.
tuple pr2_gripper_reactive_approach::reactive_grasp::top_approach_pose = create_pose_stamped(topapproachpos+topapproachquat) |
Definition at line 1431 of file reactive_grasp.py.
tuple pr2_gripper_reactive_approach::reactive_grasp::top_approach_vect = rg.compute_approach_vect(top_approach_pose, top_grasp_pose) |
Definition at line 1452 of file reactive_grasp.py.
tuple pr2_gripper_reactive_approach::reactive_grasp::top_grasp_pose = create_pose_stamped(topgrasppos+topapproachquat) |
Definition at line 1432 of file reactive_grasp.py.
list pr2_gripper_reactive_approach::reactive_grasp::topapproachpos = [.52, -.05, wrist_height+.1] |
Definition at line 1427 of file reactive_grasp.py.
list pr2_gripper_reactive_approach::reactive_grasp::topapproachquat = [-0.5, 0.5, 0.5, 0.5] |
Definition at line 1428 of file reactive_grasp.py.
Definition at line 1429 of file reactive_grasp.py.
Definition at line 1425 of file reactive_grasp.py.