Classes
class	Grasp
Variables
string	BASE_LINK = 'base_link'
tuple	COLOR_MESH_REACHABLE = ColorRGBA(0.0, 0.0, 1.0, 0.6)
tuple	COLOR_MESH_REACHABLE_SELECTED = ColorRGBA(0.0, 1.0, 0.0, 1.0)
tuple	COLOR_MESH_UNREACHABLE = ColorRGBA(0.5, 0.5, 0.5, 0.7)
tuple	COLOR_MESH_UNREACHABLE_SELECTED = ColorRGBA(0.5, 0.9, 0.5, 0.4)
float	DEFAULT_OFFSET = 0.085
string	EE_LINK = 'wrist_roll_link'
int	ID_OFFSET_REF_ARROW = 1000
int	ID_OFFSET_TRAJ_FIRST = 2000
int	ID_OFFSET_TRAJ_LAST = 3000
float	INT_MARKER_SCALE = 0.2
dictionary	MENU_OPTIONS
string	PREVIOUS_PRIMITIVE = "previous primitive"
tuple	SCALE_OBJ_REF_ARROW = Vector3(0.02, 0.03, 0.04)
tuple	SCALE_TRAJ_STEP_SPHERES = Vector3(0.02, 0.02, 0.02)
string	STR_GRIPPER_PALM_FILE = 'gripper_link.STL'
	STR_L_GRIPPER_FINGER_FILE = STR_MESH_GRIPPER_FOLDER+\
string	STR_MESH_GRIPPER_FOLDER = 'package://fetch_description/meshes/'
	STR_R_GRIPPER_FINGER_FILE = STR_MESH_GRIPPER_FOLDER+\
float	TEXT_Z_OFFSET = 0.1
string	TOPIC_IM_SERVER = 'programmed_actions'
float	TRAJ_ENDPOINT_SCALE = 0.05
tuple	TRAJ_MARKER_LIFETIME = rospy.Duration()

Detailed Description

Defines behaviour for Grasp primitive.

Variable Documentation

string fetch_pbd_interaction::grasp::BASE_LINK = 'base_link'

Definition at line 90 of file grasp.py.

tuple fetch_pbd_interaction::grasp::COLOR_MESH_REACHABLE = ColorRGBA(0.0, 0.0, 1.0, 0.6)

Definition at line 38 of file grasp.py.

tuple fetch_pbd_interaction::grasp::COLOR_MESH_REACHABLE_SELECTED = ColorRGBA(0.0, 1.0, 0.0, 1.0)

Definition at line 39 of file grasp.py.

tuple fetch_pbd_interaction::grasp::COLOR_MESH_UNREACHABLE = ColorRGBA(0.5, 0.5, 0.5, 0.7)

Definition at line 41 of file grasp.py.

tuple fetch_pbd_interaction::grasp::COLOR_MESH_UNREACHABLE_SELECTED = ColorRGBA(0.5, 0.9, 0.5, 0.4)

Definition at line 42 of file grasp.py.

float fetch_pbd_interaction::grasp::DEFAULT_OFFSET = 0.085

Definition at line 55 of file grasp.py.

string fetch_pbd_interaction::grasp::EE_LINK = 'wrist_roll_link'

Definition at line 92 of file grasp.py.

int fetch_pbd_interaction::grasp::ID_OFFSET_REF_ARROW = 1000

Definition at line 73 of file grasp.py.

int fetch_pbd_interaction::grasp::ID_OFFSET_TRAJ_FIRST = 2000

Definition at line 74 of file grasp.py.

int fetch_pbd_interaction::grasp::ID_OFFSET_TRAJ_LAST = 3000

Definition at line 75 of file grasp.py.

float fetch_pbd_interaction::grasp::INT_MARKER_SCALE = 0.2

Definition at line 80 of file grasp.py.

dictionary fetch_pbd_interaction::grasp::MENU_OPTIONS

Initial value:

00001 {
00002     'ref': 'Change target object:',
00003     # 'move_here': 'Move arm here',
00004     # 'move_current': 'Move to current arm pose',
00005     'del': 'Delete',
00006     'regen': 'Regenerate grasps',
00007     'gen' : 'Generate grasps',
00008     'choice' : 'Switch grasp to:'
00009 
00010 }