Public Member Functions | Public Attributes | Private Attributes
reactive_grasp.ReactiveGrasper Class Reference
Inheritance diagram for reactive_grasp.ReactiveGrasper:
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List of all members.

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.


Constructor & Destructor Documentation

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

Definition at line 28 of file reactive_grasp.py.


Member Function Documentation

broadcast the current manipulation phase (of type ManipulationPhase)

Definition at line 96 of file reactive_grasp.py.

Check if we have a good grasp on the object.

Definition at line 401 of file reactive_grasp.py.

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.

Lifts the object while monitoring for contacts.

Definition at line 224 of file reactive_grasp.py.

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.


Member Data Documentation

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Definition at line 28 of file reactive_grasp.py.

Definition at line 28 of file reactive_grasp.py.

Definition at line 28 of file reactive_grasp.py.


The documentation for this class was generated from the following file:


sr_move_arm
Author(s): Ugo Cupcic
autogenerated on Fri Jan 3 2014 12:07:38