Inheritance diagram for fetch_pbd_interaction.grasp.Grasp:
Detailed Description
Defines behaviour for Grasp primitive. This is for primitives where the arm moves to a single pose.
Constructor & Destructor Documentation
| def fetch_pbd_interaction.grasp.Grasp.__init__ | ( | self, | |
| robot, | |||
| tf_listener, | |||
| im_server, | |||
grasp_suggestion_service_name = None, |
|||
grasp_feedback_topic = None, |
|||
external_ee_link = None, |
|||
landmark = None, |
|||
number = None |
|||
| ) |
Args:
robot (Robot) : interface to lower level robot functionality
tf_listener (TransformListener)
im_server (InteractiveMarkerSerever)
arm_state (ArmState, optional)
gripper_state (GripperState.OPEN|GripperState.CLOSED, optional)
number (int, optional): The number of this primitive in the
action sequence
Member Function Documentation
| def fetch_pbd_interaction.grasp.Grasp._add_6dof_marker | ( | self, | |
| int_marker, | |||
| is_fixed | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._change_grasp_frames | ( | self, | |
| target_frame | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._change_ref_cb | ( | self, | |
| feedback | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._convert_ref_frame | ( | self, | |
| new_landmark | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._delete_primitive_cb | ( | self, | |
| feedback | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._generate_grasps_cb | ( | self, | |
| feedback | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._get_json_from_arm_state | ( | arm_state | ) | [static, private] |
| def fetch_pbd_interaction.grasp.Grasp._get_json_from_landmark | ( | landmark | ) | [static, private] |
| def fetch_pbd_interaction.grasp.Grasp._get_json_from_pose | ( | pose | ) | [static, private] |
| def fetch_pbd_interaction.grasp.Grasp._get_json_from_pose_stamped | ( | pose_stamped | ) | [static, private] |
| def fetch_pbd_interaction.grasp.Grasp._get_marker_pose | ( | self | ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._get_matrix_from_pose | ( | pose | ) | [static, private] |
| def fetch_pbd_interaction.grasp.Grasp._get_menu_id | ( | self, | |
| ref_name | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._get_menu_name | ( | self, | |
| menu_id | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._get_menu_ref | ( | self | ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._get_pose_from_json | ( | json | ) | [static, private] |
| def fetch_pbd_interaction.grasp.Grasp._get_pose_from_transform | ( | transform | ) | [static, private] |
| def fetch_pbd_interaction.grasp.Grasp._get_pose_stamped_from_json | ( | json | ) | [static, private] |
| def fetch_pbd_interaction.grasp.Grasp._make_6dof_control | ( | self, | |
| name, | |||
| orientation, | |||
| is_move, | |||
| is_fixed | |||
| ) | [private] |
Creates and returns one component of the 6dof controller.
Args:
name (str): Name for hte control
orientation (Quaternion): How the control should be
oriented.
is_move (bool): Looks like whether the marker moves the
object (?). Currently passed as True for moving markers,
False for rotating ones.
is_fixed (bool): Looks like whether position is fixed (?).
Currently always passed as True.
Returns:
InteractiveMarkerControl
| def fetch_pbd_interaction.grasp.Grasp._make_gripper_markers | ( | self, | |
| control | |||
| ) | [private] |
Makes a gripper marker, adds it to control, returns control.
Args:
control (InteractiveMarkerControl): IM Control we're using.
is_hand_open (bool, optional): Whether the gripper is open.
Defaults to False (closed).
Returns:
InteractiveMarkerControl: The passed control.
| def fetch_pbd_interaction.grasp.Grasp._make_mesh_marker | ( | color | ) | [static, private] |
| def fetch_pbd_interaction.grasp.Grasp._marker_feedback_cb | ( | self, | |
| feedback | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._move_to_cb | ( | self, | |
| feedback | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._offset_pose | ( | pose, | |
constant = 1 |
|||
| ) | [static, private] |
| def fetch_pbd_interaction.grasp.Grasp._regenerate_grasps_cb | ( | self, | |
| feedback | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._set_new_pose | ( | self, | |
| new_pose, | |||
| frame_id | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._set_pre_grasp_state_from_pose | ( | self, | |
| pose_stamped | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._set_ref | ( | self, | |
| new_ref | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._suggest_grasps | ( | self, | |
| landmark | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._switch_grasp_cb | ( | self, | |
| feedback | |||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._update_menu | ( | self | ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp._update_viz_core | ( | self, | |
check_reachable = True |
|||
| ) | [private] |
| def fetch_pbd_interaction.grasp.Grasp.add_marker_callbacks | ( | self, | |
| click_cb, | |||
| delete_cb, | |||
| pose_change_cb, | |||
| action_change_cb | |||
| ) |
Adds marker to world
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.build_from_json | ( | self, | |
| json | |||
| ) |
Fills out Grasp using json from db
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.build_from_pose | ( | self, | |
| pose_stamped, | |||
| landmark, | |||
approach_dist = 0.1, |
|||
name = '' |
|||
| ) |
| def fetch_pbd_interaction.grasp.Grasp.change_ref_frame | ( | self, | |
| ref_type, | |||
| landmark | |||
| ) |
Sets new reference frame for primitive Args:
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Currently just a placeholder
Meant to return conditions that need to be met after a
primitive is executed in order for execution to be a success.
This could be something like "object must be 0.1m above surface"
Returns:
None
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Currently just a placeholder
Meant to return conditions that need to be met before a
primitive can be executed. This could be something like
"There should only be one object" or something.
Returns:
None
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.decrease_id | ( | self | ) |
Reduces the number of the primitive.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.execute | ( | self | ) |
Execute this primitive, assumes that gripper commands just work
Returns
bool : Success of execution
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.get_absolute_marker_pose | ( | self, | |
use_final = True |
|||
| ) |
Returns the absolute pose of the primitive marker.
Args:
use_final (bool, optional). Unused
Returns:
PoseStamped
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.get_absolute_marker_position | ( | self, | |
use_final = True |
|||
| ) |
Returns the absolute position of the primitive marker.
Args:
use_final (bool, optional) : Unused
True.
Returns:
Point
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Returns the absolute pose of the grasp part of the primitive
(not the pre-grasp).
Args:
None
Returns:
PoseStamped
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.get_json | ( | self | ) |
Returns json representation of primitive
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.get_name | ( | self | ) |
Returns the display name for the primitive.
Returns:
str: A human-readable unique name for the primitive.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.get_number | ( | self | ) |
Returns number of primitive
Returns:
int
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Returns what number this primitive is in the sequence
Returns:
int
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.get_ref_type | ( | self | ) |
Return reference type of primitive
Returns:
ArmState.ROBOT_BASE, etc
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.get_relative_pose | ( | self, | |
use_final = True |
|||
| ) |
Returns the absolute pose of the primitive.
Args:
use_final (bool, optional). If true, uses pose of grasp_state
rather than pre_grasp_state
Returns:
PoseStamped
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.head_busy | ( | self | ) |
Return true if head busy
Returns:
bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.hide_marker | ( | self | ) |
Removes marker from the world.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Check if the marker control is visible
Returns
bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Check if this primitive requires an object to be present
Returns:
bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.is_reachable | ( | self | ) |
Check if robot can physically reach target
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.is_selected | ( | self | ) |
Return whether or not primitive is selected
Returns
bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.marker_visible | ( | self | ) |
Return whether or not marker is visible
Returns:
bool
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.pose_editable | ( | self | ) |
Return whether pose of primitive is editable
Returns:
bool : True
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.select | ( | self, | |
| is_selected | |||
| ) |
Set whether primitive is selected or not
Args:
is_selected (bool)
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.set_control_visible | ( | self, | |
visible = True |
|||
| ) |
Set visibility of marker controls
Args:
visible (bool, optional)
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.set_name | ( | self, | |
| name | |||
| ) |
Sets the display name for the primitive.
Args:
name (str) : A human-readable unique name for the primitive.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.set_pose | ( | self, | |
| new_pose | |||
| ) |
Changes the pose of the primitive to new_pose.
Args:
new_pose (PoseStamped)
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.set_primitive_number | ( | self, | |
| number | |||
| ) |
Sets what number this primitive is in the sequence
Args:
num (int)
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.show_marker | ( | self | ) |
Adds marker for primitive
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Updates and re-assigns coordinate frames when the world changes.
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
| def fetch_pbd_interaction.grasp.Grasp.update_viz | ( | self, | |
check_reachable = True |
|||
| ) |
Updates visualization fully.
Args:
check_reachable (bool) : whether to evaluate reachability
before drawing marker
Reimplemented from fetch_pbd_interaction.primitive.Primitive.
Member Data Documentation
fetch_pbd_interaction::grasp.Grasp::_offset = DEFAULT_OFFSET [static, private] |
The documentation for this class was generated from the following file: