Class for doing grasp planning on point clusters. More...

Public Member Functions
def	__init__
def	check_box_plane_collisions
	check if a box goes through the x-y plane ranges is [[xmin, ymin, zmin], [xmax, ymax, zmax]] pose is a 4x4 scipy matrix
def	check_grasp_neighbors
	check both sides of a grasp to see if they are also viable grasps
def	check_gripper_pose
	check for collisions and points within the gripper when placed at a given pose (4x4 scipy mat) returns -1 for colliding with points, -2 for colliding with the table, and the number of points inside the gripper otherwise table is assumed to be the xy plane
def	draw_gripper_model
	draw the box model of the gripper, placed at pose_mat (4x4 scipy matrix) in frame (defaults to the object frame)
def	evaluate_arbitrary_grasp
	given a cluster and a grasp pose (4x4 scipy mat in object frame), guess at the probability of success for the grasp
def	evaluate_point_cluster_grasps
	evaluate grasps on the point cluster
def	find_best_palm_dir_grasp
	find the best grasp from a given start pose along the palm (gripper x) direction, in steps of size palm_step moving the gripper inward until/as long as there are object points within the gripper, until there are collisions checking for collisions with the table (assumed to be the xy plane) returns the grasp pose if a good grasp is found, None if not
def	find_fingertip_object_center_dists
	find the distances from the object box center to the fingertip center when projected on the gripper x-, y-, and z-axes
def	find_grasps_along_direction
	for a given gripper pose and axis (0=x, 1=y, 2=z), both expressed in the points frame, find grasps at a fixed spacing along that axis in both directions while varying the palm dist (inward by steps of palm_step) as long as there are object points within the gripper, until there are collisions start_pose is a 4x4 scipy mat, object_bounding_box is [[xmin, ymin, zmin], [xmax, ymax, zmax]] min_points is the minimum number of points that need to be inside the hand for the grasp to be okay
def	find_high_point_grasps
	find grasps of high points on the object, pointing in towards the bottom center of the object
def	find_points_in_bounding_box
	return a count of points (4xn scipy mat) contained in a bounding box (ranges is a 2-list (min, max) of 3-lists (x,y,z))
def	grasp_quality
	assign a numerical quality value for this grasp
def	gripper_model
	return the xyz bounding box ranges for the parts of the gripper model placed at 3-list pos and 3x3 scipy matrix rot uses a really simple model of the fully-open gripper as three boxes (2 fingers and a palm), with a box for the empty space in-between gripper_boxes is a list of boxes, each of which is a 2-list (min, max) of 3-lists (x,y,z) of corner coords space boxes is a list of lists of box ranges; there must be points contained in each box-list for the grasp to be valid (points are summed within lists) origin of gripper is at the ?_wrist_roll_link
def	init_cluster_grasper
	initialization for planning grasps
def	keypause
	pause for enter
def	object_fits_in_hand
	figure out whether all the points fit within the gripper for an arbitrary pose (no more than gripper width/2 away from gripper x-z plane)
def	orthogonal_measure
	how far is the pose from being orthogonal to the object frame? returns a measure of angle of the closest rotation that would make the pose orthogonal to the object frame
def	overhead_angle
	angle of gripper pose x-axis away from directly overhead (global -z)
def	plan_point_cluster_grasps
	plan grasps for a point cluster
def	pplist
	pretty-print list to string
def	quality_to_probability
	turn a quality value into a 'probability' value (fairly arbitrary, not based on real data)
def	transform_ranges
	transform ranges for a bounding box using transform
Public Attributes
	actual_wrist_frame_in_model_frame
	backoff_depth_steps
	cbbf
	cluster_frame
	collision_point_id_start
	debug
	disable_grasp_neighbor_check
	draw_functions
	draw_gripper
	gripper_box_id_start
	gripper_boxes
	gripper_opening
	height_good_for_side_grasps
	include_high_point_grasps
	min_good_grasp_points
	model_frame_in_actual_wrist_frame
	overhead_grasps_only
	palm_step
	point_id_start
	pregrasp_dist
	pregrasp_just_outside_box
	side_grasp_start_height
	side_grasps_only
	side_step
	space_boxes
	tf_broadcaster
	tf_listener
Private Attributes
	_box_fits_in_hand
	_outfile
	_output_features
	_points_per_sq_cm
	_wrist_to_fingertip_center_dist
	_wrist_to_palm_dist

Detailed Description

Class for doing grasp planning on point clusters.

Definition at line 67 of file point_cluster_grasp_planner.py.

Constructor & Destructor Documentation

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.__init__	(	self,
		tf_listener = `None`,
		tf_broadcaster = `None`
	)

Definition at line 69 of file point_cluster_grasp_planner.py.

Member Function Documentation

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.check_box_plane_collisions	(	self,
		pose,
		ranges
	)

check if a box goes through the x-y plane ranges is [[xmin, ymin, zmin], [xmax, ymax, zmax]] pose is a 4x4 scipy matrix

Definition at line 267 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.check_grasp_neighbors	(	self,
		points,
		grasp
	)

check both sides of a grasp to see if they are also viable grasps

Definition at line 475 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.check_gripper_pose	(	self,
		points,
		pose
	)

check for collisions and points within the gripper when placed at a given pose (4x4 scipy mat) returns -1 for colliding with points, -2 for colliding with the table, and the number of points inside the gripper otherwise table is assumed to be the xy plane

Definition at line 285 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.draw_gripper_model	(	self,
		pose_mat,
		frame = `'object_frame'`,
		pause_after_broadcast = `0`
	)

draw the box model of the gripper, placed at pose_mat (4x4 scipy matrix) in frame (defaults to the object frame)

Definition at line 180 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.evaluate_arbitrary_grasp	(	self,
		points,
		pose
	)

given a cluster and a grasp pose (4x4 scipy mat in object frame), guess at the probability of success for the grasp

Definition at line 356 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.evaluate_point_cluster_grasps	(	self,
		grasps,
		frame
	)

evaluate grasps on the point cluster

Definition at line 761 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.find_best_palm_dir_grasp	(	self,
		points,
		start_pose,
		palm_step,
		object_bounding_box
	)

find the best grasp from a given start pose along the palm (gripper x) direction, in steps of size palm_step moving the gripper inward until/as long as there are object points within the gripper, until there are collisions checking for collisions with the table (assumed to be the xy plane) returns the grasp pose if a good grasp is found, None if not

Definition at line 538 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.find_fingertip_object_center_dists	(	self,
		pose
	)

find the distances from the object box center to the fingertip center when projected on the gripper x-, y-, and z-axes

Definition at line 440 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.find_grasps_along_direction	(	self,
		points,
		start_pose,
		axis,
		spacing,
		palm_step,
		object_bounding_box,
		max_side_move = `None`,
		omit_center = `False`
	)

for a given gripper pose and axis (0=x, 1=y, 2=z), both expressed in the points frame, find grasps at a fixed spacing along that axis in both directions while varying the palm dist (inward by steps of palm_step) as long as there are object points within the gripper, until there are collisions start_pose is a 4x4 scipy mat, object_bounding_box is [[xmin, ymin, zmin], [xmax, ymax, zmax]] min_points is the minimum number of points that need to be inside the hand for the grasp to be okay

Definition at line 582 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.find_high_point_grasps	(	self,
		points,
		object_bounding_box,
		object_bounding_box_dims,
		palm_step,
		max_grasps_to_return = `40`
	)

find grasps of high points on the object, pointing in towards the bottom center of the object

Definition at line 628 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.find_points_in_bounding_box	(	self,
		wrist_frame_points,
		ranges,
		return_points = `0`
	)

return a count of points (4xn scipy mat) contained in a bounding box (ranges is a 2-list (min, max) of 3-lists (x,y,z))

Definition at line 231 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.grasp_quality	(	self,
		point_count,
		palm_dist,
		side_dist,
		overhead_grasp,
		fits_in_hand,
		not_edge,
		orthogonality = `1`,
		centered_dist = `0`,
		points = `None`,
		grasp = `None`,
		collision_point_count = `0`
	)

assign a numerical quality value for this grasp

Definition at line 507 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.gripper_model ( self )

return the xyz bounding box ranges for the parts of the gripper model placed at 3-list pos and 3x3 scipy matrix rot uses a really simple model of the fully-open gripper as three boxes (2 fingers and a palm), with a box for the empty space in-between gripper_boxes is a list of boxes, each of which is a 2-list (min, max) of 3-lists (x,y,z) of corner coords space boxes is a list of lists of box ranges; there must be points contained in each box-list for the grasp to be valid (points are summed within lists) origin of gripper is at the ?_wrist_roll_link

Definition at line 215 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.init_cluster_grasper	(	self,
		cluster
	)

initialization for planning grasps

Definition at line 729 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.keypause ( self )

pause for enter

Definition at line 722 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.object_fits_in_hand	(	self,
		points,
		pose
	)

figure out whether all the points fit within the gripper for an arbitrary pose (no more than gripper width/2 away from gripper x-z plane)

Definition at line 457 of file point_cluster_grasp_planner.py.

def pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner.PointClusterGraspPlanner.orthogonal_measure	(	self,
		pose
	)

how far is the pose from being orthogonal to the object frame? returns a measure of angle of the closest rotation that would make the pose orthogonal to the object frame

Definition at line 407 of file point_cluster_grasp_planner.py.