Go to the source code of this file.
Namespaces | |
| namespace | run_experiments |
Functions | |
| def | run_experiments::call_empty_service |
| def | run_experiments::call_find_cluster_bounding_box |
| call find_cluster_bounding_box to get the bounding box for a cluster | |
| def | run_experiments::call_reactive_approach |
| def | run_experiments::call_reactive_grasp |
| def | run_experiments::call_reactive_lift |
| def | run_experiments::call_reactive_place |
| def | run_experiments::call_tabletop_detection |
| def | run_experiments::do_adjust |
| def | run_experiments::find_farthest_box |
| def | run_experiments::keypause |
| def | run_experiments::move_arm_to_side |
| def | run_experiments::move_cartesian_step |
| def | run_experiments::return_current_pose_as_list |
| def | run_experiments::return_rel_pose |
| convert a relative vector in frame to a pose in the base_link frame if start_pose is not specified, uses current pose of the wrist | |
| def | run_experiments::side_to_approach_joint |
| def | run_experiments::try_hard_to_move_joint |
Variables | |
| string | run_experiments::approach_type = 'top' |
| list | run_experiments::approachpos = [.52, -.05, wrist_height+.1] |
| list | run_experiments::approachquat = [0.5, 0.5, -0.5, 0.5] |
| tuple | run_experiments::bounding_box_srv = rospy.ServiceProxy('/find_cluster_bounding_box', FindClusterBoundingBox) |
| tuple | run_experiments::c = keypause() |
| tuple | run_experiments::cc_srv = rospy.ServiceProxy("r_reactive_grasp/compliant_close", Empty) |
| tuple | run_experiments::cm |
| tuple | run_experiments::col_map_interface = collision_map_interface.CollisionMapInterface() |
| list | run_experiments::current_goal = approachpos[:] |
| tuple | run_experiments::detect_srv = rospy.ServiceProxy("object_detection", TabletopDetection) |
| tuple | run_experiments::draw_functions = object_manipulator.draw_functions.DrawFunctions('grasp_markers') |
| tuple | run_experiments::draw_sphere_mat = scipy.matrix(scipy.identity(4)) |
| tuple | run_experiments::error_code = cm.move_arm_pose(pregrasp_pose, blocking = 1) |
| tuple | run_experiments::farthest_point = find_farthest_box(box_poses, box_dims, farthest_point_axis) |
| list | run_experiments::farthest_point_axis = [0,0,1] |
| tuple | run_experiments::ga_srv = rospy.ServiceProxy("r_reactive_grasp/grasp_adjustment", Empty) |
| tuple | run_experiments::grasp_pose = return_rel_pose(cm, [.1, 0, 0], 'r_wrist_roll_link') |
| list | run_experiments::joint_names |
| tuple | run_experiments::lift = GripperTranslation() |
| list | run_experiments::place_goal = current_goal[:] |
| tuple | run_experiments::place_pose = create_pose_stamped(place_goal) |
| tuple | run_experiments::pregrasp_pose = create_pose_stamped(approachpos+approachquat) |
| tuple | run_experiments::ra_ac |
| tuple | run_experiments::result = call_reactive_grasp(rg_ac, grasp_pose, trajectory) |
| tuple | run_experiments::rg_ac |
| tuple | run_experiments::rl_ac |
| tuple | run_experiments::rp_ac |
| int | run_experiments::side_tip_dist_to_table = 06 |
| list | run_experiments::sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, -1.787] |
| list | run_experiments::sideapproachpos = [.50, -.3, table_height-.035+side_tip_dist_to_table] |
| list | run_experiments::sideapproachquat = [.707, .707, 0, 0] |
| int | run_experiments::small_step = 02 |
| list | run_experiments::start_angles = [0.] |
| int | run_experiments::table_height = 7239 |
| int | run_experiments::tip_dist_to_table = 18 |
| run_experiments::trajectory = None | |
| tuple | run_experiments::use_slip_controller = rospy.get_param('/reactive_grasp_node_right/use_slip_detection', 0) |
| tuple | run_experiments::use_slip_detection = rospy.get_param('/reactive_grasp_node_right/use_slip_controller', 0) |
| int | run_experiments::wrist_height = 02 |
