Functions | Variables
run_experiments Namespace Reference

Functions

def call_empty_service
def call_find_cluster_bounding_box
 call find_cluster_bounding_box to get the bounding box for a cluster
def call_reactive_approach
def call_reactive_grasp
def call_reactive_lift
def call_reactive_place
def call_tabletop_detection
def do_adjust
def find_farthest_box
def keypause
def move_arm_to_side
def move_cartesian_step
def return_current_pose_as_list
def return_rel_pose
 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
def side_to_approach_joint
def try_hard_to_move_joint

Variables

string approach_type = 'top'
list approachpos = [.52, -.05, wrist_height+.1]
list approachquat = [0.5, 0.5, -0.5, 0.5]
tuple bounding_box_srv = rospy.ServiceProxy('/find_cluster_bounding_box', FindClusterBoundingBox)
tuple c = keypause()
tuple cc_srv = rospy.ServiceProxy("r_reactive_grasp/compliant_close", Empty)
tuple cm
tuple col_map_interface = collision_map_interface.CollisionMapInterface()
list current_goal = approachpos[:]
tuple detect_srv = rospy.ServiceProxy("object_detection", TabletopDetection)
tuple draw_functions = object_manipulator.draw_functions.DrawFunctions('grasp_markers')
tuple draw_sphere_mat = scipy.matrix(scipy.identity(4))
tuple error_code = cm.move_arm_pose(pregrasp_pose, blocking = 1)
tuple farthest_point = find_farthest_box(box_poses, box_dims, farthest_point_axis)
list farthest_point_axis = [0,0,1]
tuple ga_srv = rospy.ServiceProxy("r_reactive_grasp/grasp_adjustment", Empty)
tuple grasp_pose = return_rel_pose(cm, [.1, 0, 0], 'r_wrist_roll_link')
list joint_names
tuple lift = GripperTranslation()
list place_goal = current_goal[:]
tuple place_pose = create_pose_stamped(place_goal)
tuple pregrasp_pose = create_pose_stamped(approachpos+approachquat)
tuple ra_ac
tuple result = call_reactive_grasp(rg_ac, grasp_pose, trajectory)
tuple rg_ac
tuple rl_ac
tuple rp_ac
int side_tip_dist_to_table = 06
list sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, -1.787]
list sideapproachpos = [.50, -.3, table_height-.035+side_tip_dist_to_table]
list sideapproachquat = [.707, .707, 0, 0]
int small_step = 02
list start_angles = [0.]
int table_height = 7239
int tip_dist_to_table = 18
 trajectory = None
tuple use_slip_controller = rospy.get_param('/reactive_grasp_node_right/use_slip_detection', 0)
tuple use_slip_detection = rospy.get_param('/reactive_grasp_node_right/use_slip_controller', 0)
int wrist_height = 02

Function Documentation

def run_experiments.call_empty_service (   service_name,
  serv 
)

Definition at line 155 of file run_experiments.py.

def run_experiments.call_find_cluster_bounding_box (   bounding_box_srv,
  cluster 
)

call find_cluster_bounding_box to get the bounding box for a cluster

Definition at line 243 of file run_experiments.py.

def run_experiments.call_reactive_approach (   ac,
  grasp_pose,
  trajectory 
)

Definition at line 52 of file run_experiments.py.

def run_experiments.call_reactive_grasp (   ac,
  grasp_pose,
  trajectory 
)

Definition at line 32 of file run_experiments.py.

def run_experiments.call_reactive_lift (   ac,
  lift 
)

Definition at line 72 of file run_experiments.py.

def run_experiments.call_reactive_place (   ac,
  place_pose 
)

Definition at line 87 of file run_experiments.py.

def run_experiments.call_tabletop_detection (   detect_srv,
  bounding_box_srv 
)

Definition at line 257 of file run_experiments.py.

Definition at line 100 of file run_experiments.py.

def run_experiments.find_farthest_box (   box_poses,
  box_dims,
  axis 
)

Definition at line 293 of file run_experiments.py.

Definition at line 137 of file run_experiments.py.

def run_experiments.move_arm_to_side (   cm,
  col_map_interface 
)

Definition at line 227 of file run_experiments.py.

def run_experiments.move_cartesian_step (   cm,
  pose,
  timeout = 10.0,
  settling_time = 3.0,
  blocking = 0 
)

Definition at line 144 of file run_experiments.py.

Definition at line 166 of file run_experiments.py.

def run_experiments.return_rel_pose (   cm,
  vector,
  frame,
  start_pose = None 
)

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

Definition at line 173 of file run_experiments.py.

def run_experiments.side_to_approach_joint (   cm,
  col_map_interface 
)

Definition at line 235 of file run_experiments.py.

def run_experiments.try_hard_to_move_joint (   cm,
  col_map_interface,
  trajectory,
  max_tries = 5,
  use_open_loop = 1 
)

Definition at line 199 of file run_experiments.py.


Variable Documentation

Definition at line 406 of file run_experiments.py.

Definition at line 398 of file run_experiments.py.

list run_experiments::approachquat = [0.5, 0.5, -0.5, 0.5]

Definition at line 399 of file run_experiments.py.

tuple run_experiments::bounding_box_srv = rospy.ServiceProxy('/find_cluster_bounding_box', FindClusterBoundingBox)

Definition at line 356 of file run_experiments.py.

Definition at line 440 of file run_experiments.py.

tuple run_experiments::cc_srv = rospy.ServiceProxy("r_reactive_grasp/compliant_close", Empty)

Definition at line 353 of file run_experiments.py.

Initial value:
00001 controller_manager.ControllerManager('r', \
00002                              using_slip_controller = use_slip_controller, \
00003                              using_slip_detection = use_slip_detection)

Definition at line 374 of file run_experiments.py.

tuple run_experiments::col_map_interface = collision_map_interface.CollisionMapInterface()

Definition at line 379 of file run_experiments.py.

Definition at line 404 of file run_experiments.py.

tuple run_experiments::detect_srv = rospy.ServiceProxy("object_detection", TabletopDetection)

Definition at line 355 of file run_experiments.py.

Definition at line 382 of file run_experiments.py.

tuple run_experiments::draw_sphere_mat = scipy.matrix(scipy.identity(4))

Definition at line 486 of file run_experiments.py.

tuple run_experiments::error_code = cm.move_arm_pose(pregrasp_pose, blocking = 1)

Definition at line 455 of file run_experiments.py.

Definition at line 480 of file run_experiments.py.

Definition at line 473 of file run_experiments.py.

tuple run_experiments::ga_srv = rospy.ServiceProxy("r_reactive_grasp/grasp_adjustment", Empty)

Definition at line 354 of file run_experiments.py.

tuple run_experiments::grasp_pose = return_rel_pose(cm, [.1, 0, 0], 'r_wrist_roll_link')

Definition at line 511 of file run_experiments.py.

Initial value:
00001 ["r_shoulder_pan_joint",
00002                    "r_shoulder_lift_joint",
00003                    "r_upper_arm_roll_joint",
00004                    "r_elbow_flex_joint",
00005                    "r_forearm_roll_joint",
00006                    "r_wrist_flex_joint",
00007                    "r_wrist_roll_joint"]

Definition at line 385 of file run_experiments.py.

Definition at line 530 of file run_experiments.py.

Definition at line 586 of file run_experiments.py.

Definition at line 588 of file run_experiments.py.

Definition at line 415 of file run_experiments.py.

Initial value:
00001 actionlib.SimpleActionClient("reactive_approach/right", \
00002                                              ReactiveGraspAction)

Definition at line 347 of file run_experiments.py.

Definition at line 521 of file run_experiments.py.

Initial value:
00001 actionlib.SimpleActionClient("reactive_grasp/right", \
00002                                              ReactiveGraspAction)

Definition at line 345 of file run_experiments.py.

Initial value:
00001 actionlib.SimpleActionClient("reactive_lift/right", \
00002                                              ReactiveLiftAction)

Definition at line 349 of file run_experiments.py.

Initial value:
00001 actionlib.SimpleActionClient("reactive_place/right", \
00002                                              ReactivePlaceAction)

Definition at line 351 of file run_experiments.py.

Definition at line 401 of file run_experiments.py.

list run_experiments::sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, -1.787]

Definition at line 400 of file run_experiments.py.

Definition at line 402 of file run_experiments.py.

list run_experiments::sideapproachquat = [.707, .707, 0, 0]

Definition at line 403 of file run_experiments.py.

Definition at line 405 of file run_experiments.py.

Definition at line 517 of file run_experiments.py.

Definition at line 395 of file run_experiments.py.

Definition at line 396 of file run_experiments.py.

Definition at line 518 of file run_experiments.py.

Definition at line 334 of file run_experiments.py.

Definition at line 333 of file run_experiments.py.

Definition at line 397 of file run_experiments.py.

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pr2_grasp_adjust
Author(s): Adam Leeper
autogenerated on Wed Jan 23 2013 15:27:55