Functions | |
def | call_empty_service |
def | call_reactive_approach |
def | call_reactive_grasp |
def | call_reactive_lift |
def | call_reactive_place |
def | keypause |
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 | |
Variables | |
string | approach_type = 'top' |
list | approachpos = [.52, -.05, wrist_height+.1] |
list | approachquat = [0.5, 0.5, -0.5, 0.5] |
tuple | c = keypause() |
tuple | cc_srv = rospy.ServiceProxy("r_reactive_grasp/compliant_close", Empty) |
tuple | cm |
list | current_goal = approachpos[:] |
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 = [.63, -.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 = 165 |
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 |
def test_pr2_gripper_reactive_approach_server.call_empty_service | ( | service_name, | |
serv | |||
) |
Definition at line 114 of file test_pr2_gripper_reactive_approach_server.py.
def test_pr2_gripper_reactive_approach_server.call_reactive_approach | ( | ac, | |
grasp_pose, | |||
trajectory | |||
) |
Definition at line 47 of file test_pr2_gripper_reactive_approach_server.py.
def test_pr2_gripper_reactive_approach_server.call_reactive_grasp | ( | ac, | |
grasp_pose, | |||
trajectory | |||
) |
Definition at line 27 of file test_pr2_gripper_reactive_approach_server.py.
def test_pr2_gripper_reactive_approach_server.call_reactive_lift | ( | ac, | |
lift | |||
) |
Definition at line 67 of file test_pr2_gripper_reactive_approach_server.py.
def test_pr2_gripper_reactive_approach_server.call_reactive_place | ( | ac, | |
place_pose | |||
) |
Definition at line 82 of file test_pr2_gripper_reactive_approach_server.py.
Definition at line 96 of file test_pr2_gripper_reactive_approach_server.py.
def test_pr2_gripper_reactive_approach_server.move_cartesian_step | ( | cm, | |
pose, | |||
timeout = 10.0 , |
|||
settling_time = 3.0 , |
|||
blocking = 0 |
|||
) |
Definition at line 103 of file test_pr2_gripper_reactive_approach_server.py.
Definition at line 125 of file test_pr2_gripper_reactive_approach_server.py.
def test_pr2_gripper_reactive_approach_server.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 132 of file test_pr2_gripper_reactive_approach_server.py.
string test_pr2_gripper_reactive_approach_server::approach_type = 'top' |
Definition at line 226 of file test_pr2_gripper_reactive_approach_server.py.
list test_pr2_gripper_reactive_approach_server::approachpos = [.52, -.05, wrist_height+.1] |
Definition at line 218 of file test_pr2_gripper_reactive_approach_server.py.
list test_pr2_gripper_reactive_approach_server::approachquat = [0.5, 0.5, -0.5, 0.5] |
Definition at line 219 of file test_pr2_gripper_reactive_approach_server.py.
Definition at line 255 of file test_pr2_gripper_reactive_approach_server.py.
tuple test_pr2_gripper_reactive_approach_server::cc_srv = rospy.ServiceProxy("r_reactive_grasp/compliant_close", Empty) |
Definition at line 180 of file test_pr2_gripper_reactive_approach_server.py.
00001 controller_manager.ControllerManager('r', \ 00002 using_slip_controller = use_slip_controller, \ 00003 using_slip_detection = use_slip_detection)
Definition at line 199 of file test_pr2_gripper_reactive_approach_server.py.
Definition at line 224 of file test_pr2_gripper_reactive_approach_server.py.
tuple test_pr2_gripper_reactive_approach_server::ga_srv = rospy.ServiceProxy("r_reactive_grasp/grasp_adjustment", Empty) |
Definition at line 181 of file test_pr2_gripper_reactive_approach_server.py.
tuple test_pr2_gripper_reactive_approach_server::grasp_pose = return_rel_pose(cm, [.1, 0, 0], 'r_wrist_roll_link') |
Definition at line 277 of file test_pr2_gripper_reactive_approach_server.py.
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 204 of file test_pr2_gripper_reactive_approach_server.py.
Definition at line 296 of file test_pr2_gripper_reactive_approach_server.py.
Definition at line 315 of file test_pr2_gripper_reactive_approach_server.py.
Definition at line 317 of file test_pr2_gripper_reactive_approach_server.py.
tuple test_pr2_gripper_reactive_approach_server::pregrasp_pose = create_pose_stamped(approachpos+approachquat) |
Definition at line 235 of file test_pr2_gripper_reactive_approach_server.py.
00001 actionlib.SimpleActionClient("reactive_approach/right", \ 00002 ReactiveGraspAction)
Definition at line 174 of file test_pr2_gripper_reactive_approach_server.py.
tuple test_pr2_gripper_reactive_approach_server::result = call_reactive_grasp(rg_ac, grasp_pose, trajectory) |
Definition at line 287 of file test_pr2_gripper_reactive_approach_server.py.
00001 actionlib.SimpleActionClient("reactive_grasp/right", \ 00002 ReactiveGraspAction)
Definition at line 172 of file test_pr2_gripper_reactive_approach_server.py.
00001 actionlib.SimpleActionClient("reactive_lift/right", \ 00002 ReactiveLiftAction)
Definition at line 176 of file test_pr2_gripper_reactive_approach_server.py.
00001 actionlib.SimpleActionClient("reactive_place/right", \ 00002 ReactivePlaceAction)
Definition at line 178 of file test_pr2_gripper_reactive_approach_server.py.
Definition at line 221 of file test_pr2_gripper_reactive_approach_server.py.
list test_pr2_gripper_reactive_approach_server::sideangles = [-0.447, -0.297, -2.229, -0.719, 0.734, -1.489, -1.787] |
Definition at line 220 of file test_pr2_gripper_reactive_approach_server.py.
list test_pr2_gripper_reactive_approach_server::sideapproachpos = [.63, -.3, table_height-.035+side_tip_dist_to_table] |
Definition at line 222 of file test_pr2_gripper_reactive_approach_server.py.
list test_pr2_gripper_reactive_approach_server::sideapproachquat = [.707, .707, 0, 0] |
Definition at line 223 of file test_pr2_gripper_reactive_approach_server.py.
Definition at line 225 of file test_pr2_gripper_reactive_approach_server.py.
Definition at line 283 of file test_pr2_gripper_reactive_approach_server.py.
Definition at line 214 of file test_pr2_gripper_reactive_approach_server.py.
Definition at line 215 of file test_pr2_gripper_reactive_approach_server.py.
Definition at line 284 of file test_pr2_gripper_reactive_approach_server.py.
tuple test_pr2_gripper_reactive_approach_server::use_slip_controller = rospy.get_param('/reactive_grasp_node_right/use_slip_detection', 0) |
Definition at line 163 of file test_pr2_gripper_reactive_approach_server.py.
tuple test_pr2_gripper_reactive_approach_server::use_slip_detection = rospy.get_param('/reactive_grasp_node_right/use_slip_controller', 0) |
Definition at line 162 of file test_pr2_gripper_reactive_approach_server.py.
Definition at line 216 of file test_pr2_gripper_reactive_approach_server.py.