Public Member Functions | |
def | __init__ |
def | call_plan_point_cluster_grasp |
def | call_set_point_cluster_grasp_params |
def | find_grasps |
def | plan_grasps_for_target |
return grasps for either a service or action request | |
def | plan_segmented_clutter_grasps_callback |
service callback for the plan_segmented_clutter_grasps service | |
def | process_point_cloud |
call the find_container_action to remove parallel-to-container-side points and cluster the contents | |
def | segmented_clutter_grasps_execute_cb |
action callback for the segmented_clutter_grasps_action | |
Public Attributes | |
tf_listener | |
Private Attributes | |
_as | |
_cluster_grasp_params_srv | |
_cluster_grasp_srv | |
_cluster_planner_name | |
_container_client | |
_opening_dir_list | |
_planning_scene_srv | |
_pregrasp_just_outside_box |
Definition at line 57 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.__init__ | ( | self, | |
tf_listener = None , |
|||
advertise_service = False , |
|||
advertise_action = True |
|||
) |
Definition at line 59 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.call_plan_point_cluster_grasp | ( | self, | |
cluster, | |||
arm_name, | |||
reference_frame_id, | |||
side = False |
|||
) |
Definition at line 193 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.call_set_point_cluster_grasp_params | ( | self, | |
side = False , |
|||
pregrasp_just_outside_box = False |
|||
) |
Definition at line 210 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.find_grasps | ( | self, | |
point_cloud, | |||
box_pose, | |||
box_dims, | |||
arm_name, | |||
reference_frame_id, | |||
opening_dir | |||
) |
Definition at line 236 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.plan_grasps_for_target | ( | self, | |
target, | |||
arm_name | |||
) |
return grasps for either a service or action request
Definition at line 142 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.plan_segmented_clutter_grasps_callback | ( | self, | |
req | |||
) |
service callback for the plan_segmented_clutter_grasps service
Definition at line 123 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.process_point_cloud | ( | self, | |
point_cloud, | |||
box_pose, | |||
box_dims, | |||
opening_dir | |||
) |
call the find_container_action to remove parallel-to-container-side points and cluster the contents
Definition at line 173 of file segmented_clutter_grasp_planner.py.
def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner.segmented_clutter_grasps_execute_cb | ( | self, | |
goal | |||
) |
action callback for the segmented_clutter_grasps_action
Definition at line 133 of file segmented_clutter_grasp_planner.py.
segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.ClusteredClutterGraspPlanner::_as [private] |
Definition at line 59 of file segmented_clutter_grasp_planner.py.
Definition at line 59 of file segmented_clutter_grasp_planner.py.
Definition at line 59 of file segmented_clutter_grasp_planner.py.
Definition at line 59 of file segmented_clutter_grasp_planner.py.
Definition at line 59 of file segmented_clutter_grasp_planner.py.
Definition at line 59 of file segmented_clutter_grasp_planner.py.
Definition at line 59 of file segmented_clutter_grasp_planner.py.
Definition at line 59 of file segmented_clutter_grasp_planner.py.
Definition at line 59 of file segmented_clutter_grasp_planner.py.