Public Member Functions
def	__init__
def	compliant_close_callback
	do a compliant close using the fingertip sensors (stops at the first detected contact and moves the arm so that the contact stays in place)
def	grasp_adjustment_callback
	do a grasp adjustment using the fingertip sensors (tries to move the hand to obtain non-tip and non-edge contacts)
def	init_reactive_grasp
def	reactive_approach_cb
	do a reactive approach using the fingertip sensors (backs up and moves to the side if a fingertip contacts on the way to the grasp)
def	reactive_grasp_cb
def	reactive_lift_cb
	do a reactive lift using the fingertip sensors (uses slip-servoing to exert just enough force to grasp and lift)
def	reactive_place_cb
	do a reactive place using the fingertip sensors and accelerometer (uses slip controller to stop and open when the object hits the table) if slip controller is not running, just goes past the goal with the Cartesian controller
Public Attributes
	approach_num_tries
	back_step
	close_force
	forward_step
	goal_pos_thres
	grasp_adjust_num_tries
	grasp_adjust_x_step
	grasp_adjust_z_step
	grasp_num_tries
	place_overshoot
	rg
	rg_state
	side_step
	use_slip_detection
	which_arm
Private Attributes
	_action_name
	_approach_action_name
	_approach_as
	_as
	_lift_action_name
	_lift_as
	_node_name
	_place_action_name
	_place_as
Static Private Attributes
tuple	_grasp_result = ReactiveGraspResult()
tuple	_lift_result = ReactiveLiftResult()
tuple	_place_result = ReactivePlaceResult()

Detailed Description

Definition at line 75 of file reactive_grasp_server.py.

Constructor & Destructor Documentation

def reactive_grasp_server.ReactiveGraspActionServer.__init__	(	self,
		which_arm
	)

Class for the reactive grasp actions and services.

@which_arm is 'r' or 'l'

Definition at line 80 of file reactive_grasp_server.py.

Member Function Documentation

def reactive_grasp_server.ReactiveGraspActionServer.compliant_close_callback	(	self,
		req
	)

do a compliant close using the fingertip sensors (stops at the first detected contact and moves the arm so that the contact stays in place)

Definition at line 322 of file reactive_grasp_server.py.

def reactive_grasp_server.ReactiveGraspActionServer.grasp_adjustment_callback	(	self,
		req
	)

do a grasp adjustment using the fingertip sensors (tries to move the hand to obtain non-tip and non-edge contacts)

Definition at line 332 of file reactive_grasp_server.py.

def reactive_grasp_server.ReactiveGraspActionServer.init_reactive_grasp	(	self,
		goal
	)

pull relevant parts out of the goal for both reactive grasp and approach

Definition at line 191 of file reactive_grasp_server.py.

def reactive_grasp_server.ReactiveGraspActionServer.reactive_approach_cb	(	self,
		goal
	)

do a reactive approach using the fingertip sensors (backs up and moves to the side if a fingertip contacts on the way to the grasp)

Definition at line 218 of file reactive_grasp_server.py.

def reactive_grasp_server.ReactiveGraspActionServer.reactive_grasp_cb	(	self,
		goal
	)

do a reactive grasp using the fingertip sensors
(backs up and moves to the side if a fingertip contacts on the way to the grasp,
closes compliantly, tries approach and grasp again if gripper opening is not within bounds)

Definition at line 142 of file reactive_grasp_server.py.

def reactive_grasp_server.ReactiveGraspActionServer.reactive_lift_cb	(	self,
		goal
	)

do a reactive lift using the fingertip sensors (uses slip-servoing to exert just enough force to grasp and lift)

Definition at line 256 of file reactive_grasp_server.py.

def reactive_grasp_server.ReactiveGraspActionServer.reactive_place_cb	(	self,
		goal
	)

do a reactive place using the fingertip sensors and accelerometer (uses slip controller to stop and open when the object hits the table) if slip controller is not running, just goes past the goal with the Cartesian controller

Definition at line 293 of file reactive_grasp_server.py.