reactive_grasp::ReactiveGrasper Class Reference

Inheritance diagram for reactive_grasp::ReactiveGrasper:

Public Member Functions
def	__init__
def	broadcast_phase
def	check_good_grasp
def	check_preempt
def	close_until_force
def	command_cartesian
def	compliant_close
def	compute_approach_dir
def	compute_approach_vect
def	open_and_reset_fingertips
def	reactive_approach
def	reactive_grasp
def	reactive_lift
def	reactive_place
def	return_rel_pose
Public Attributes
	close_force
	grasp_touch_thresholds
	light_touch_thresholds
	manipulation_phase_dict
	move_arm_client
	mypub
	reactive_approach_result_dict
	reactive_grasp_result_dict
	root_name
	sr_lib
	tf_listener
	tip_name
	using_slip_detection
	which_fingers_are_touching_client
	whicharm
Private Attributes
	_closed_hard
	_phase_pub
	_photo
	_table_name

Detailed Description

reactive/guarded movement and grasping

Definition at line 24 of file reactive_grasp.py.

Member Function Documentation

def reactive_grasp::ReactiveGrasper::__init__	(	self,
		which_arm = `'r'`,
		slip_detection = `False`
	)

Definition at line 28 of file reactive_grasp.py.

def reactive_grasp::ReactiveGrasper::broadcast_phase	(	self,
		phase
	)

broadcast the current manipulation phase (of type ManipulationPhase)

Definition at line 96 of file reactive_grasp.py.

def reactive_grasp::ReactiveGrasper::check_good_grasp ( self )

Check if we have a good grasp on the object.

Definition at line 401 of file reactive_grasp.py.

def reactive_grasp::ReactiveGrasper::check_preempt ( self )

Needs to be overloaded

Reimplemented in reactive_grasp_server::ReactiveGrasperWithPreempt.

Definition at line 534 of file reactive_grasp.py.

def reactive_grasp::ReactiveGrasper::close_until_force	(	self,
		joint_names,
		pregrasp,
		grasp,
		forces_threshold,
		success_msg = `"All the fingers are now touching the object."`,
		nb_steps = `20`,
		iteration_time = `0.2`
	)

Closes the hand from pregrasp to grasp
until the given forces are reached.

@return returns the positions reached when the forces were reached.

Definition at line 338 of file reactive_grasp.py.

def reactive_grasp::ReactiveGrasper::command_cartesian	(	self,
		pose,
		frame_id = `'world'`
	)

Tries to go to the given pose with the arm.

Definition at line 480 of file reactive_grasp.py.

def reactive_grasp::ReactiveGrasper::compliant_close	(	self,
		grasp_posture = `None`,
		pregrasp_posture = `None`
	)

Close compliantly. We're going to interpolate from pregrasp to grasp, sending
data each iteration_time. We stop the fingers when they come in contact with something
using the feedback from the tactile sensors.

@grasp_posture: the posture of the hand for the grasp - joint names and positions
@pregrasp_posture: the posture of the hand when doing the approach. We assume
           that the grasp and pregrasp have the same joint order.
@nb_steps: the number of steps used in the interpolation.
@iteration_time: how long do we wait between 2 steps.

Definition at line 292 of file reactive_grasp.py.

def reactive_grasp::ReactiveGrasper::compute_approach_dir	(	self,
		approach_pose,
		grasp_pose
	)

compute (unit) approach direction in base_link frame from an approach_pose and grasp_pose (returns scipy array)

Definition at line 409 of file reactive_grasp.py.

def reactive_grasp::ReactiveGrasper::compute_approach_vect	(	self,
		approach_pose,
		grasp_pose
	)

compute approach vector in base_link frame from an approach_pose and grasp_pose (returns scipy array)

Definition at line 417 of file reactive_grasp.py.

def reactive_grasp::ReactiveGrasper::open_and_reset_fingertips	(	self,
		pregrasp_posture,
		reset = `0`
	)

Open the hand

Definition at line 466 of file reactive_grasp.py.

def reactive_grasp::ReactiveGrasper::reactive_approach	(	self,
		approach_dir,
		current_goal_pose,
		joint_path = `None`,
		side_step = `.015`,
		back_step = `.03`,
		num_tries = `10`,
		goal_pos_thres = `0.01`
	)

Stops and goes back a little in case of a contact.

Definition at line 177 of file reactive_grasp.py.

def reactive_grasp::ReactiveGrasper::reactive_grasp	(	self,
		approach_pose,
		grasp_pose,
		joint_path = `None`,
		pregrasp_posture = `None`,
		grasp_posture = `None`,
		side_step = `.015`,
		back_step = `.03`,
		approach_num_tries = `10`,
		goal_pos_thres = `0.01`,
		grasp_num_tries = `4`,
		forward_step = `0.03`,
		object_name = `"points"`,
		table_name = `"table"`,
		grasp_adjust_x_step = `.02`,
		grasp_adjust_z_step = `.015`,
		grasp_adjust_num_tries = `3`
	)

Definition at line 104 of file reactive_grasp.py.

def reactive_grasp::ReactiveGrasper::reactive_lift	(	self,
		goal
	)

Lifts the object while monitoring for contacts.

Definition at line 224 of file reactive_grasp.py.

def reactive_grasp::ReactiveGrasper::reactive_place	(	self,
		goal
	)

Lifts the object while monitoring for contacts.

Definition at line 258 of file reactive_grasp.py.

def reactive_grasp::ReactiveGrasper::return_rel_pose	(	self,
		vector,
		frame,
		start_pose = `None`,
		orthogonal_to_vect = `None`,
		orthogonal_to_vect_frame = `'world'`
	)

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
if orthogonal_to_vect and orthogonal_to_vect_frame are specified, first convert vector to be orthogonal to orthogonal_to_vect

Definition at line 426 of file reactive_grasp.py.