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reactive_grasp.py File Reference

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Classes

class  pr2_gripper_reactive_approach.reactive_grasp.Aborted
 abort exception More...
class  pr2_gripper_reactive_approach.reactive_grasp.ReactiveGrasper
 reactive/guarded movement and grasping More...

Namespaces

namespace  pr2_gripper_reactive_approach::reactive_grasp
namespace  reactive_grasp
 

Reactive grasping based on fingertip readings.


Functions

def pr2_gripper_reactive_approach::reactive_grasp.keypause
 pause for input

Variables

tuple pr2_gripper_reactive_approach::reactive_grasp.approach_dir = rg.compute_approach_dir(current_pose, new_grasp_pose)
tuple pr2_gripper_reactive_approach::reactive_grasp.c = keypause()
tuple pr2_gripper_reactive_approach::reactive_grasp.cm = controller_manager.ControllerManager('r')
tuple pr2_gripper_reactive_approach::reactive_grasp.current_angles = cm.get_current_arm_angles()
tuple pr2_gripper_reactive_approach::reactive_grasp.current_pose = rg.cm.get_current_wrist_pose_stamped()
 pr2_gripper_reactive_approach::reactive_grasp.currentgoal = pos+rot
int pr2_gripper_reactive_approach::reactive_grasp.forward_step = 02
int pr2_gripper_reactive_approach::reactive_grasp.grasp_num_tries = 2
int pr2_gripper_reactive_approach::reactive_grasp.max_joint_vel = 05
string pr2_gripper_reactive_approach::reactive_grasp.mode = 'none'
tuple pr2_gripper_reactive_approach::reactive_grasp.new_grasp_pose = rg.return_rel_pose(top_approach_vect, 'base_link')
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)
tuple pr2_gripper_reactive_approach::reactive_grasp.rg = ReactiveGrasper(cm)
tuple pr2_gripper_reactive_approach::reactive_grasp.side_approach_pose = create_pose_stamped(sideapproachpos+sideapproachquat)
tuple pr2_gripper_reactive_approach::reactive_grasp.side_approach_vect = rg.compute_approach_vect(side_approach_pose, side_grasp_pose)
tuple pr2_gripper_reactive_approach::reactive_grasp.side_grasp_pose = create_pose_stamped(sidegrasppos+sideapproachquat)
int pr2_gripper_reactive_approach::reactive_grasp.side_tip_dist_to_table = 14
list pr2_gripper_reactive_approach::reactive_grasp.sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, 1.355]
tuple pr2_gripper_reactive_approach::reactive_grasp.sideapproachmat
list pr2_gripper_reactive_approach::reactive_grasp.sideapproachpos = [.63, -.3, table_height-.035+side_tip_dist_to_table]
tuple pr2_gripper_reactive_approach::reactive_grasp.sideapproachquat = list(tf.transformations.quaternion_from_matrix(sideapproachmat))
list pr2_gripper_reactive_approach::reactive_grasp.sidegrasppos = sideapproachpos[:]
int pr2_gripper_reactive_approach::reactive_grasp.small_step = 1
 pr2_gripper_reactive_approach::reactive_grasp.start_angles = sideangles
int pr2_gripper_reactive_approach::reactive_grasp.step_size = 01
int pr2_gripper_reactive_approach::reactive_grasp.table_height = 7239
int pr2_gripper_reactive_approach::reactive_grasp.tiltangle = 18
int pr2_gripper_reactive_approach::reactive_grasp.tip_dist_to_table = 12
tuple pr2_gripper_reactive_approach::reactive_grasp.top_approach_pose = create_pose_stamped(topapproachpos+topapproachquat)
tuple pr2_gripper_reactive_approach::reactive_grasp.top_approach_vect = rg.compute_approach_vect(top_approach_pose, top_grasp_pose)
tuple pr2_gripper_reactive_approach::reactive_grasp.top_grasp_pose = create_pose_stamped(topgrasppos+topapproachquat)
list pr2_gripper_reactive_approach::reactive_grasp.topapproachpos = [.52, -.05, wrist_height+.1]
list pr2_gripper_reactive_approach::reactive_grasp.topapproachquat = [-0.5, 0.5, 0.5, 0.5]
list pr2_gripper_reactive_approach::reactive_grasp.topgrasppos = topapproachpos[:]
int pr2_gripper_reactive_approach::reactive_grasp.wrist_height = 02


pr2_gripper_reactive_approach
Author(s): Kaijen Hsiao
autogenerated on Mon Oct 6 2014 12:27:12