Manager for pick and place actions. More...
Public Member Functions | |
| def | __init__ |
| def | attach_object |
| attach the object in the hand to the gripper (right = 0, left = 1) | |
| def | call_find_cluster_bounding_box |
| call find_cluster_bounding_box to get the bounding box for a cluster | |
| def | call_tabletop_detection |
| call tabletop object detection and collision_map_processing (detects table/objects and adds them to collision map) | |
| def | check_grasp_successful |
| is an object in the hand? (is the gripper not closed all the way?) | |
| def | check_joint_controllers |
| make sure the joint controllers are on | |
| def | check_preempted |
| check for a preempt request (overload this for your application) | |
| def | choose_place_location |
| choose a new location to try to place an object held by whicharm (right = 0, left = 1) if override_pose >=0, then pick an override pose from front to back | |
| def | close_gripper |
| close the gripper (whicharm is 0 for right, 1 for left) | |
| def | count_objects |
| how many relevant objects did we detect? | |
| def | detach_and_add_back_object |
| detach and add the object back to the collision map | |
| def | detach_object |
| detach the object in the hand from the gripper (right = 0, left = 1) | |
| def | detect_and_pick_up_object |
| detect objects and try to pick up the nearest one | |
| def | draw_object_pose |
| draw a visualization box (bounding or at-the-base) for an object at a PoseStamped | |
| def | draw_place_area |
| draw the current place area as a set of boxes | |
| def | fill_in_taken_place_grid_spots |
| fills in place grid spots that are already taken by objects seen by the last tabletop detection | |
| def | find_height_above_table |
| find the height of an object pose above a detected table plane | |
| def | find_IK_solution |
| find an IK solution for a pose mat | |
| def | find_table |
| point the head to find the front edge of the table and detect | |
| def | grasp_object |
| tell the grasp action to grasp an object (whicharm: right = 0, left = 1) | |
| def | grasp_object_and_check_success |
| grasp the object and check if there's something in the hand | |
| def | input_object_num |
| get the number of an object to pick up from the user | |
| def | input_side |
| get which arm/side to use from the user | |
| def | keyboard_extensions |
| add extensions to the keyboard interface here, return 1 to continue and 0 to go on down the possibilities | |
| def | keyboard_interface |
| keyboard interface for starting up the demo and overriding with manual commands | |
| def | keypause |
| pause for input | |
| def | move_arm_to_side |
| move whicharm off to the side | |
| def | move_arm_to_side_open_loop |
| move whicharm off to the side open-loop | |
| def | move_cartesian_step |
| move to a nearby Cartesian pose using the Cartesian controllers | |
| def | open_gripper |
| open the gripper (whicharm is 0 for right, 1 for left) | |
| def | pick_up_nearest_object |
| pick up the object_num-th nearest feasible object (tries each one in turn) arms_to_try indicates which arms to try in what order (0=right, 1=left) | |
| def | pick_up_object_near_point |
| pick up the object nearest to a PointStamped with whicharm (0=right, 1=left) | |
| def | place_grid_location |
| return the location of a point in the place grid | |
| def | place_grid_pose |
| return the pose of the object at a place grid location | |
| def | place_object |
| tell the place service to place an object held by whicharm at a particular location (right = 0, left = 1) expressed as a PoseStamped | |
| def | place_object_override |
| place the object open-loop, shoving other objects aside | |
| def | point_head |
| point the head (really the narrow-stereo camera frame) at a location | |
| def | point_head_at_place_rect |
| point the head at the place rectangle | |
| def | point_to_box_dist |
| distance from a point (2-list) to a bounding box (projected onto table plane) returns 0 if the point is inside; positive if it's outside | |
| def | pose_to_narrow_stereo_center_dist |
| distance between the narrow stereo's center ray and a pose_stamped's center | |
| def | print_keyboard_extensions |
| print instructions for using extensions to the keyboard interface here | |
| def | print_object_list |
| print the list of possible objects to grasp | |
| def | put_down_object |
| put down an object held in whicharm (right = 0, left = 1) | |
| def | refine_if_not_centered |
| refine the view of the object, if it's too far from the center of the narrow stereo center | |
| def | refine_object_detection |
| refine an object detection by pointing the head at it (input the object's position on the table) | |
| def | remove_object |
| remove an object from the collision map | |
| def | reset_collision_map |
| reset the collision map and take a new one (without tabletop or objects) | |
| def | reset_place_grid_temporary_collisions |
| reset all the -1s (temporary collision entries) in the place grid | |
| def | return_current_pose_as_list |
| return the current pos and rot of the wrist for whicharm as a 7-list (pos, quaternion rot) | |
| def | rotate_pose |
| rotate the pose_stamped about the base-link z-axis by rotation rad but keep the position the same | |
| def | set_place_area |
| set a rectangle centered at rect_pose_stamped of dims (x, y) to be the desired place area | |
| def | shift_place_pose_height |
| shift a place pose to be above the current table plane | |
| def | take_static_map |
| just take a new static collision map, without re-finding table or objects | |
| def | throw_exception |
| saw a serious error (problem with service call), overload this for your application | |
| def | transfer_object_to_other_hand |
| call the grasping_app_transfer service to move the object from hand to hand | |
| def | transform_place_rect_pose |
| convert the place rectangle pose to base_link frame if it isn't already (returns pose, not pose_stamped) | |
| def | try_hard_to_move_joint |
| try to move to a set of joint angles using move_arm, ignoring current collisions if necessary, and if that fails, move open-loop | |
| def | try_hard_to_move_joint_open_loop |
| move open-loop through trajectory move open-loop through trajectory | |
| def | try_hard_to_move_pose |
| try to move to a pose using move_arm, ignoring current collisions if necessary, and if that fails, move open-loop (either to the IK solution if there is one, or using the Cartesian controllers if there isn't) | |
| def | try_to_move_constrained |
| try to move to a location while constraining the gripper to remain approximately level | |
| def | update_object_box |
| remove an object and add it back in as the current bounding box | |
| def | update_table_info |
| use the table detection to update the table information if adjust_place_rectangle is 1, adjusts a place rectangle on the table (assumed base_link frame) with the new table params | |
Public Attributes | |
| additional_tables | |
| arm_above_and_to_side_angles | |
| arm_dict | |
| arm_to_side_angles | |
| bounding_box_srv | |
| cms | |
| collision_map_interface | |
| collision_map_processing_name | |
| collision_map_processing_srv | |
| collision_support_surface_name | |
| detected_objects | |
| detected_table | |
| draw_functions | |
| find_bounding_box_name | |
| grasper_detect_name | |
| grasper_detect_srv | |
| grasper_grasp_action_client | |
| grasper_grasp_name | |
| grasper_place_action_client | |
| grasper_place_name | |
| head_action_client | |
| held_objects | |
| original_poses | |
| place_grid | |
| place_grid_resolution | |
| place_override_approach_offset | |
| place_rect_dims | |
| place_rect_pose_stamped | |
| result_code_dict | |
| table_front_edge_x | |
| table_height | |
| tabletop_detection_result_dict | |
| tf_listener | |
| use_slip_detection | |
Manager for pick and place actions.
Definition at line 90 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::__init__ | ( | self, | ||
use_slip_detection = 0 | ||||
| ) |
Definition at line 93 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::attach_object | ( | self, | ||
| whicharm, | ||||
| object_name | ||||
| ) |
attach the object in the hand to the gripper (right = 0, left = 1)
Definition at line 674 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::call_find_cluster_bounding_box | ( | self, | ||
| cluster | ||||
| ) |
call find_cluster_bounding_box to get the bounding box for a cluster
Definition at line 265 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::call_tabletop_detection | ( | self, | ||
take_static_collision_map = 0, |
||||
update_table = 0, |
||||
clear_attached_objects = 1, |
||||
store_detected_objects = 1, |
||||
replace_table_in_collision_map = 1, |
||||
update_place_rectangle = 0 | ||||
| ) |
call tabletop object detection and collision_map_processing (detects table/objects and adds them to collision map)
Definition at line 279 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::check_grasp_successful | ( | self, | ||
| whicharm, | ||||
min_gripper_opening = .0021, |
||||
max_gripper_opening = .1 | ||||
| ) |
is an object in the hand? (is the gripper not closed all the way?)
Definition at line 1477 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::check_joint_controllers | ( | self, | ||
whicharm = None | ||||
| ) |
make sure the joint controllers are on
Definition at line 381 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::check_preempted | ( | self | ) |
check for a preempt request (overload this for your application)
Definition at line 1629 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::choose_place_location | ( | self, | ||
| whicharm, | ||||
override_pose = -1, |
||||
z_offset = 0 | ||||
| ) |
choose a new location to try to place an object held by whicharm (right = 0, left = 1) if override_pose >=0, then pick an override pose from front to back
Definition at line 877 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::close_gripper | ( | self, | ||
| whicharm | ||||
| ) |
close the gripper (whicharm is 0 for right, 1 for left)
Definition at line 1367 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::count_objects | ( | self | ) |
how many relevant objects did we detect?
Definition at line 1516 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::detach_and_add_back_object | ( | self, | ||
| whicharm, | ||||
collision_name = None | ||||
| ) |
detach and add the object back to the collision map
Definition at line 686 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::detach_object | ( | self, | ||
| whicharm | ||||
| ) |
detach the object in the hand from the gripper (right = 0, left = 1)
Definition at line 680 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::detect_and_pick_up_object | ( | self, | ||
| point_head_loc, | ||||
frame = 'base_link', |
||||
arms_to_try = [0 | ||||
| ) |
detect objects and try to pick up the nearest one
Definition at line 1487 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::draw_object_pose | ( | self, | ||
| object_info, | ||||
| pose_stamped, | ||||
| color, | ||||
| id, | ||||
duration = 300. | ||||
| ) |
draw a visualization box (bounding or at-the-base) for an object at a PoseStamped
Definition at line 865 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::draw_place_area | ( | self | ) |
draw the current place area as a set of boxes
Definition at line 791 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::fill_in_taken_place_grid_spots | ( | self, | ||
buffer = .05 | ||||
| ) |
fills in place grid spots that are already taken by objects seen by the last tabletop detection
Definition at line 474 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::find_height_above_table | ( | self, | ||
| pose, | ||||
| table | ||||
| ) |
find the height of an object pose above a detected table plane
Definition at line 241 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::find_IK_solution | ( | self, | ||
| whicharm, | ||||
| pose_mat, | ||||
| start_angles, | ||||
collision_aware = 1 | ||||
| ) |
find an IK solution for a pose mat
Definition at line 570 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::find_table | ( | self, | ||
point = None | ||||
| ) |
point the head to find the front edge of the table and detect
Definition at line 257 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::grasp_object | ( | self, | ||
| object, | ||||
whicharm = None, |
||||
use_reactive_grasp = 1, |
||||
use_slip_detection = 0 | ||||
| ) |
tell the grasp action to grasp an object (whicharm: right = 0, left = 1)
Definition at line 391 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::grasp_object_and_check_success | ( | self, | ||
| object, | ||||
whicharm = None | ||||
| ) |
grasp the object and check if there's something in the hand
Definition at line 1209 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::input_object_num | ( | self | ) |
get the number of an object to pick up from the user
Definition at line 1646 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::input_side | ( | self | ) |
get which arm/side to use from the user
Definition at line 1668 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::keyboard_extensions | ( | self, | ||
| input | ||||
| ) |
add extensions to the keyboard interface here, return 1 to continue and 0 to go on down the possibilities
Definition at line 1697 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::keyboard_interface | ( | self | ) |
keyboard interface for starting up the demo and overriding with manual commands
Definition at line 1717 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::keypause | ( | self | ) |
pause for input
Definition at line 1639 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::move_arm_to_side | ( | self, | ||
| whicharm, | ||||
try_constrained = 0 | ||||
| ) |
move whicharm off to the side
Definition at line 1535 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::move_arm_to_side_open_loop | ( | self, | ||
| whicharm, | ||||
try_constrained = 0 | ||||
| ) |
move whicharm off to the side open-loop
Definition at line 1550 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::move_cartesian_step | ( | self, | ||
| whicharm, | ||||
| pose, | ||||
timeout = 10.0, |
||||
settling_time = 3.0, |
||||
blocking = 0 | ||||
| ) |
move to a nearby Cartesian pose using the Cartesian controllers
Definition at line 1467 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::open_gripper | ( | self, | ||
| whicharm | ||||
| ) |
open the gripper (whicharm is 0 for right, 1 for left)
Definition at line 1362 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::pick_up_nearest_object | ( | self, | ||
object_num = 0, |
||||
arms_to_try = [0 | ||||
| ) |
pick up the object_num-th nearest feasible object (tries each one in turn) arms_to_try indicates which arms to try in what order (0=right, 1=left)
Definition at line 1331 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::pick_up_object_near_point | ( | self, | ||
| point_stamped, | ||||
| whicharm | ||||
| ) |
pick up the object nearest to a PointStamped with whicharm (0=right, 1=left)
Definition at line 1558 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::place_grid_location | ( | self, | ||
| xind, | ||||
| yind | ||||
| ) |
return the location of a point in the place grid
Definition at line 810 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::place_grid_pose | ( | self, | ||
| xind, | ||||
| yind, | ||||
| whicharm, | ||||
add_noise = 0 | ||||
| ) |
return the pose of the object at a place grid location
Definition at line 827 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::place_object | ( | self, | ||
| whicharm, | ||||
| pose, | ||||
padding = .05 | ||||
| ) |
tell the place service to place an object held by whicharm at a particular location (right = 0, left = 1) expressed as a PoseStamped
Definition at line 499 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::place_object_override | ( | self, | ||
| whicharm, | ||||
| pose, | ||||
z_dist = .1, |
||||
use_joint_open_loop = 0 | ||||
| ) |
place the object open-loop, shoving other objects aside
Definition at line 579 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::point_head | ( | self, | ||
| point, | ||||
| frame | ||||
| ) |
point the head (really the narrow-stereo camera frame) at a location
Definition at line 715 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::point_head_at_place_rect | ( | self, | ||
offset = 1 | ||||
| ) |
point the head at the place rectangle
Definition at line 1000 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::point_to_box_dist | ( | self, | ||
| point, | ||||
| box_pose, | ||||
| box_dims | ||||
| ) |
distance from a point (2-list) to a bounding box (projected onto table plane) returns 0 if the point is inside; positive if it's outside
Definition at line 453 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::pose_to_narrow_stereo_center_dist | ( | self, | ||
| pose_stamped | ||||
| ) |
distance between the narrow stereo's center ray and a pose_stamped's center
Definition at line 1303 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::print_keyboard_extensions | ( | self | ) |
print instructions for using extensions to the keyboard interface here
Definition at line 1692 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::print_object_list | ( | self | ) |
print the list of possible objects to grasp
Definition at line 1598 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::put_down_object | ( | self, | ||
| whicharm, | ||||
max_place_tries = None, |
||||
use_place_override = 0, |
||||
move_to_side = True | ||||
| ) |
put down an object held in whicharm (right = 0, left = 1)
Definition at line 1018 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::refine_if_not_centered | ( | self, | ||
| object | ||||
| ) |
refine the view of the object, if it's too far from the center of the narrow stereo center
Definition at line 1314 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::refine_object_detection | ( | self, | ||
| objectx, | ||||
| objecty | ||||
| ) |
refine an object detection by pointing the head at it (input the object's position on the table)
Definition at line 1284 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::remove_object | ( | self, | ||
| collision_name | ||||
| ) |
remove an object from the collision map
Definition at line 701 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::reset_collision_map | ( | self | ) |
reset the collision map and take a new one (without tabletop or objects)
Definition at line 1372 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::reset_place_grid_temporary_collisions | ( | self | ) |
reset all the -1s (temporary collision entries) in the place grid
Definition at line 936 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::return_current_pose_as_list | ( | self, | ||
| whicharm | ||||
| ) |
return the current pos and rot of the wrist for whicharm as a 7-list (pos, quaternion rot)
Definition at line 1686 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::rotate_pose | ( | self, | ||
| pose_stamped, | ||||
| rotation | ||||
| ) |
rotate the pose_stamped about the base-link z-axis by rotation rad but keep the position the same
Definition at line 945 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::set_place_area | ( | self, | ||
| rect_pose_stamped, | ||||
| dims | ||||
| ) |
set a rectangle centered at rect_pose_stamped of dims (x, y) to be the desired place area
Definition at line 783 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::shift_place_pose_height | ( | self, | ||
| object, | ||||
| place_pose, | ||||
| table, | ||||
| z_offset | ||||
| ) |
shift a place pose to be above the current table plane
Definition at line 221 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::take_static_map | ( | self | ) |
just take a new static collision map, without re-finding table or objects
Definition at line 1377 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::throw_exception | ( | self | ) |
saw a serious error (problem with service call), overload this for your application
Definition at line 1634 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::transfer_object_to_other_hand | ( | self, | ||
| holding_arm, | ||||
| object | ||||
| ) |
call the grasping_app_transfer service to move the object from hand to hand
Definition at line 957 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::transform_place_rect_pose | ( | self | ) |
convert the place rectangle pose to base_link frame if it isn't already (returns pose, not pose_stamped)
Definition at line 773 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::try_hard_to_move_joint | ( | self, | ||
| whicharm, | ||||
| trajectory, | ||||
max_tries = 5, |
||||
use_open_loop = 1 | ||||
| ) |
try to move to a set of joint angles using move_arm, ignoring current collisions if necessary, and if that fails, move open-loop
Definition at line 1383 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::try_hard_to_move_joint_open_loop | ( | self, | ||
| whicharm, | ||||
| trajectory | ||||
| ) |
move open-loop through trajectory move open-loop through trajectory
Definition at line 1412 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::try_hard_to_move_pose | ( | self, | ||
| whicharm, | ||||
| pose_stamped, | ||||
max_tries = 3, |
||||
use_joint_open_loop = 0, |
||||
use_cartesian = 0, |
||||
try_constrained = 0 | ||||
| ) |
try to move to a pose using move_arm, ignoring current collisions if necessary, and if that fails, move open-loop (either to the IK solution if there is one, or using the Cartesian controllers if there isn't)
Definition at line 1419 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::try_to_move_constrained | ( | self, | ||
| whicharm, | ||||
max_tries = 3, |
||||
start_angles = None, |
||||
location = None | ||||
| ) |
try to move to a location while constraining the gripper to remain approximately level
Definition at line 1522 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::update_object_box | ( | self, | ||
| object_info | ||||
| ) |
remove an object and add it back in as the current bounding box
Definition at line 707 of file pick_and_place_manager_example.py.
| def pick_and_place_manager_example::PickAndPlaceManager::update_table_info | ( | self, | ||
adjust_place_rectangle = 0 | ||||
| ) |
use the table detection to update the table information if adjust_place_rectangle is 1, adjusts a place rectangle on the table (assumed base_link frame) with the new table params
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