Public Member Functions
def	__init__
def	get_object_pose_from_grasp
Private Member Functions
def	_add_sponge_to_base
def	_add_sponge_to_right_gripper
def	_add_tables_to_wi
def	_attach_object
def	_check_trajectory_to_pickup_goal
def	_check_trajectory_to_place_goal
def	_check_trajectory_to_wrist_poses_list
def	_compute_detection_name_mappings
def	_compute_new_wipe_goals
def	_compute_redetected_objects
def	_create_detected_visible_objects
def	_create_place_goal
def	_detect_objects_callback
def	_dump_known_objects
def	_dump_known_wipe_goals
def	_dump_planning_scene_objects
def	_filter_wipe_goals
def	_find_putdown_pose_callback
def	_pick_up_execute
def	_pickup_goal_to_str
def	_place_goal_to_str
def	_point_to_str
def	_pose_to_str
def	_put_down_execute
def	_readd_objects_for_renaming
def	_remove_known_objects
def	_remove_objects_for_renaming
def	_remove_objects_in_fov
def	_rename_and_update_pickup_goals
def	_request_graspability_callback
def	_reset_world_interface
def	_to_carry_execute
def	_to_side_execute
def	_wipe_goal_to_str
Private Attributes
	_attachSponge
	_carry_joint_trajectory
	_detachSponge
	_detectGraspableObjectsService
	_detector
	_find_putdown_pose_service
	_head
	_known_objects
	_known_wipe_goals
	_pick_place
	_pickUpActionServer
	_psi
	_putDownActionServer
	_requestObjectGraspabilityService
	_resetWorldInterface
	_side_joint_trajectory
	_tasks
	_toCarryActionServer
	_toSideActionServer
	_visualization_publisher
	_wi

Detailed Description

Definition at line 45 of file simple_arm_tasks.py.

Constructor & Destructor Documentation

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks.__init__ ( self )

Definition at line 46 of file simple_arm_tasks.py.

Member Function Documentation

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._add_sponge_to_base	(	self,
		req = `None`
	)	`[private]`

Definition at line 1000 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._add_sponge_to_right_gripper	(	self,
		req = `None`
	)	`[private]`

Definition at line 1018 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._add_tables_to_wi ( self ) [private]

Definition at line 994 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._attach_object	(	self,
		object_name,
		link_name,
		touch_links,
		stamped
	)	`[private]`

Definition at line 1039 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._check_trajectory_to_pickup_goal	(	self,
		pickup_goal
	)	`[private]`

Definition at line 916 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._check_trajectory_to_place_goal	(	self,
		place_goal
	)	`[private]`

Definition at line 898 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._check_trajectory_to_wrist_poses_list	(	self,
		wrist_poses,
		arm_name,
		marker_ns = `None`
	)	`[private]`

Definition at line 944 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._compute_detection_name_mappings	(	self,
		det_names,
		world_names,
		newly_detected,
		redetected
	)	`[private]`

Determine name mappings in the form newly_detected_name -> old/known_name.
The name mappings should include a mapping for every detected object and
thus might include trivial ones like: cup_1 -> cup_1.
Args:
    det_names - set of names in the new detection
    world_names - set of names that exist in the world (from cur_collision_objects)
    newly_detected - pickup goals for objects that have been newly detected
    redetected - set of pickup goal tuples of redetected objects: (known_pg, redetected_pg)

Definition at line 322 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._compute_new_wipe_goals	(	self,
		pickup_goals
	)	`[private]`

Compute tentative wiping goals from pickup_goals (using their obj locations)
pickup_goals is a list of PickupGoal with collision_object_poses + names
Returns: list of (msg.WipeGoal, valid) - Here valid is None = unknown.

Definition at line 431 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._compute_redetected_objects	(	self,
		known,
		det,
		cur_collision_objects
	)	`[private]`

Compute which objects have been redetected, which are newly detected, and
which known objects have not been redetected.
known and det are detection results of the previsouly known objects (known)
and the current detection (det).
The cur_collision_objects contain the collision objects as they were in
the world right before calling this function.
Returns a tuple (known_not_redetected, newly_detected, redetected) that
contains sets of the respective pickup goals. Redetected contains a set
of tuples (known_pg, detected_pg) that are redetected matches.

Definition at line 254 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._create_detected_visible_objects	(	self,
		pickup_goals
	)	`[private]`

Create a reply of visible_objects for an object detection request from the pickup_goals.

Definition at line 490 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._create_place_goal	(	self,
		request
	)	`[private]`

Definition at line 821 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._detect_objects_callback	(	self,
		request
	)	`[private]`

Call the object detection and based on that:
update the world interface so the newly detected objects are now in the world and
already known objects are updated. The set of objects that we know to be on this
static_object should be exaclty the set of detected objects, i.e. not re-detected objects are removed,
new ones added, re-detected ones updated.
Objects in the world not on this static_object should never be touched.

In addition update our known_objects on this static_object with this information.
We will also forget about any other known_objects on this location
and the planner state should do the same.
Any picked up object should also be removed.

Definition at line 526 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._dump_known_objects ( self ) [private]

Definition at line 188 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._dump_known_wipe_goals ( self ) [private]

Definition at line 211 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._dump_planning_scene_objects	(	self,
		planning_scene = `None`
	)	`[private]`

Output a condensed printable form of the planning scene.
    If the planning_scene is None, the current world scene is retrieved
    from the world interface.

Definition at line 141 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._filter_wipe_goals	(	self,
		new_wgs,
		known_wgs
	)	`[private]`

Filter wiping goals for this location.
new_wg is a list of wiping goals computed for this location.
known_wgs is a list of the known wiping goals already at this location.
Returns a filtered list of WipeGoals where all new and known wipe goals
are contained, unless a new WipeGoal is too close to an already known WipeGoal.

Definition at line 445 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._find_putdown_pose_callback	(	self,
		request
	)	`[private]`

Definition at line 701 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._pick_up_execute	(	self,
		goal
	)	`[private]`

Definition at line 650 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._pickup_goal_to_str	(	self,
		pg
	)	`[private]`

Definition at line 163 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._place_goal_to_str	(	self,
		pg,
		print_locations = `True`
	)	`[private]`

Definition at line 177 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._point_to_str	(	self,
		pt
	)	`[private]`

Definition at line 136 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._pose_to_str	(	self,
		pose
	)	`[private]`

Definition at line 127 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._put_down_execute	(	self,
		goal
	)	`[private]`

Definition at line 724 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._readd_objects_for_renaming	(	self,
		name_mappings,
		cur_collision_objects
	)	`[private]`

Readd all objects from the world (with a new name) that were 
previously removed for renaming.
The cur_collision_objects are the object as they were in the world
before _remove_objects_for_renaming was called!

Definition at line 386 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._remove_known_objects	(	self,
		known
	)	`[private]`

Remove known objects from the world.

Definition at line 221 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._remove_objects_for_renaming	(	self,
		name_mappings
	)	`[private]`

Remove all objects from the world that should be renamed.

Definition at line 378 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._remove_objects_in_fov	(	self,
		cur_collision_objects
	)	`[private]`

Remove objects from the world that are in the FOV.
The cur_collision_objects contain the collision objects as they were in
the world right before calling this function.

Definition at line 227 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._rename_and_update_pickup_goals	(	self,
		name_mappings,
		cur_collision_objects,
		pickup_goals
	)	`[private]`

Rename the pickup goals according to name mappings and also update/assign a
collision_object_header/collision_object_poses to them.
The cur_collision_objects contain the collision objects as they were in
the world right before calling this function.

Definition at line 406 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._request_graspability_callback	(	self,
		request
	)	`[private]`

Definition at line 646 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._reset_world_interface	(	self,
		request = `None`
	)	`[private]`

Definition at line 117 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._to_carry_execute	(	self,
		goal
	)	`[private]`

Definition at line 91 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._to_side_execute	(	self,
		goal
	)	`[private]`

Definition at line 104 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks._wipe_goal_to_str	(	self,
		wg,
		valid
	)	`[private]`

Definition at line 198 of file simple_arm_tasks.py.

def src.tidyup_arm_services.simple_arm_tasks.SimpleArmTasks.get_object_pose_from_grasp	(	self,
		wrist_pose_stamped,
		frame_free_grasp_pose
	)

Function for finding the end effector pose given a grasp and a desired place for the object.

**Args:**

**wrist_pose_stamped (geometry_msgs.msg.PoseStamped):** The pose as a geometry_msgs.msg.PoseStamped
    of the end effector to place the object at place_pose_stamped.
    For the PR2 this is the wrist pose.

**frame_free_grasp (pickplace_definitions.FrameFreeGrasp):** Grasp with which the object is held

**Returns:**
place_pose_stamped (geometry_msgs.msg.PoseStamped): The Place for an object

Definition at line 796 of file simple_arm_tasks.py.