segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner Class Reference

List of all members.

Public Member Functions
def	__init__
def	call_plan_point_cluster_grasp
def	call_set_pc_grasp_params
def	find_grasps
def	plan_grasps_for_target
def	plan_sc_grasps_cb
def	process_point_cloud
def	sc_grasps_execute_cb
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

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Detailed Description

A grasp planning service (and an equivalent action) for finding good
top and/or side grasps for objects in clutter, based only on point clouds.

The grasp planner works by segmenting clusters of points (in a PointCloud2) 
within a region of interest that have normals roughly orthogonal 
to each desired grasp direction, and then running the cluster planner on 
each cluster in turn to plan grasps. 

Definition at line 60 of file segmented_clutter_grasp_planner.py.

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Constructor & Destructor Documentation

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.__init__	(		self,
			advertise_service = False,
			advertise_action = True
	)

Definition at line 71 of file segmented_clutter_grasp_planner.py.

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Member Function Documentation

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.call_plan_point_cluster_grasp	(		self,
			cluster,
			arm_name,
			reference_frame_id
	)

call plan_point_cluster_grasp to get candidate grasps for a cluster

Definition at line 201 of file segmented_clutter_grasp_planner.py.

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.call_set_pc_grasp_params	(		self,
			side = False,
			pregrasp_just_outside_box = False
	)

call the set_point_cluster_grasp_params service with appropriate params

Definition at line 219 of file segmented_clutter_grasp_planner.py.

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.find_grasps	(		self,
			point_cloud,
			box_pose,
			box_dims,
			arm_name,
			reference_frame_id,
			opening_dir
	)

find grasps on a point cloud inside a bounding box

Definition at line 246 of file segmented_clutter_grasp_planner.py.

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.plan_grasps_for_target	(		self,
			target,
			arm_name
	)

return grasps for either a service or action request

Definition at line 153 of file segmented_clutter_grasp_planner.py.

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.plan_sc_grasps_cb	(		self,
			req
	)

service callback for the plan_segmented_clutter_grasps service

Definition at line 134 of file segmented_clutter_grasp_planner.py.

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.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 179 of file segmented_clutter_grasp_planner.py.

def segmented_clutter_grasp_planner.segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner.sc_grasps_execute_cb	(		self,
			goal
	)

action callback for the segmented_clutter_grasps_action

Definition at line 144 of file segmented_clutter_grasp_planner.py.

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Member Data Documentation

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner::_as [private]

Definition at line 71 of file segmented_clutter_grasp_planner.py.

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner::_cluster_grasp_params_srv [private]

Definition at line 71 of file segmented_clutter_grasp_planner.py.

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner::_cluster_grasp_srv [private]

Definition at line 71 of file segmented_clutter_grasp_planner.py.

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner::_cluster_planner_name [private]

Definition at line 71 of file segmented_clutter_grasp_planner.py.

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner::_container_client [private]

Definition at line 71 of file segmented_clutter_grasp_planner.py.

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner::_opening_dir_list [private]

Definition at line 71 of file segmented_clutter_grasp_planner.py.

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner::_planning_scene_srv [private]

Definition at line 71 of file segmented_clutter_grasp_planner.py.

segmented_clutter_grasp_planner::segmented_clutter_grasp_planner.SegmentedClutterGraspPlanner::_pregrasp_just_outside_box [private]

Definition at line 71 of file segmented_clutter_grasp_planner.py.

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The documentation for this class was generated from the following file:

• segmented_clutter_grasp_planner.py