reactive/guarded movement and grasping with the gripper stereo integrated into the approach More...
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 | |
reactive/guarded movement and grasping with the gripper stereo integrated into the approach
Definition at line 64 of file gripper_stereo_reactive_grasp.py.
| def gripper_stereo_reactive_grasp.GripperStereoReactiveGrasper.__init__ | ( | self, | |
| cm | |||
| ) |
Definition at line 66 of file gripper_stereo_reactive_grasp.py.
| 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.
| def gripper_stereo_reactive_grasp.GripperStereoReactiveGrasper.projected_vect_to_obj | ( | self, | |
| goal, | |||
| approach_dir | |||
| ) |
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.
gripper_stereo_reactive_grasp.GripperStereoReactiveGrasper::_gripper_stereo_grasp_adjust_client [private] |
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.
