pick_and_place Namespace Reference

Functions
def	move_to_ready (interface)

Variables
	_colors
	action
	args
int	count = -1
	d = math.sqrt((dx * dx) + (dy * dy))
	default
	dimensions
	dx = obj.object.primitive_poses[0].position.x - args.x
	dy = obj.object.primitive_poses[0].position.y
	find_objects = actionlib.SimpleActionClient("basic_grasping_perception/find_objects", FindGraspableObjectsAction)
	find_result = find_objects.get_result()
	float
	frame_id
	goal = FindGraspableObjectsGoal()
	grasps = find_result.objects[the_object].grasps
	height = obj.primitive_poses[0].position.z
	help
list	joint_names
	l = PlaceLocation()
	move_group = MoveGroupInterface("arm", "base_link", plan_only = args.plan)
string	obj_name = "object%d"%the_object
	parser = argparse.ArgumentParser(description="Simple demo of pick and place")
	pick_result
	pickplace = PickPlaceInterface("arm", "gripper", plan_only = args.plan, verbose = True)
	place_result
	places = list()
	plan_grasps
	pose
	post_place_posture
	post_place_retreat
	pre_place_approach
list	ready_pose = [-1.393150, -0.103543, 0, -1.608378, -0.458660, -0.1, -2.611218]
	scene = PlanningSceneInterface("base_link")
	success
	support_name
	support_surface = find_result.objects[the_object].object.support_surface
	the_object = None
float	the_object_dist = 0.35
	type
	unknown
	wait
	y

Function Documentation

move_to_ready()

def pick_and_place.move_to_ready

(

interface

)

Definition at line 52 of file pick_and_place.py.

Variable Documentation

_colors

pick_and_place._colors

private

Definition at line 101 of file pick_and_place.py.

action

pick_and_place.action

Definition at line 61 of file pick_and_place.py.

args

pick_and_place.args

Definition at line 67 of file pick_and_place.py.

count

int pick_and_place.count = -1

Definition at line 106 of file pick_and_place.py.

d

pick_and_place.d = math.sqrt((dx * dx) + (dy * dy))

Definition at line 119 of file pick_and_place.py.

default

pick_and_place.default

Definition at line 66 of file pick_and_place.py.

dimensions

pick_and_place.dimensions

Definition at line 132 of file pick_and_place.py.

dx

pick_and_place.dx = obj.object.primitive_poses[0].position.x - args.x

Definition at line 117 of file pick_and_place.py.

dy

pick_and_place.dy = obj.object.primitive_poses[0].position.y

Definition at line 118 of file pick_and_place.py.

find_objects

pick_and_place.find_objects = actionlib.SimpleActionClient("basic_grasping_perception/find_objects", FindGraspableObjectsAction)

Definition at line 81 of file pick_and_place.py.

find_result

pick_and_place.find_result = find_objects.get_result()

Definition at line 90 of file pick_and_place.py.

float

pick_and_place.float

Definition at line 66 of file pick_and_place.py.

frame_id

pick_and_place.frame_id

Definition at line 174 of file pick_and_place.py.

goal

pick_and_place.goal = FindGraspableObjectsGoal()

Definition at line 86 of file pick_and_place.py.

grasps

pick_and_place.grasps = find_result.objects[the_object].grasps

Definition at line 161 of file pick_and_place.py.

height

pick_and_place.height = obj.primitive_poses[0].position.z

Definition at line 131 of file pick_and_place.py.

help

pick_and_place.help

Definition at line 61 of file pick_and_place.py.

joint_names

list pick_and_place.joint_names

Initial value:

=  ["shoulder_pan_joint", "shoulder_lift_joint", "upperarm_roll_joint",
    "elbow_flex_joint", "forearm_roll_joint", "wrist_flex_joint", "wrist_roll_joint"]

Definition at line 48 of file pick_and_place.py.

l

pick_and_place.l = PlaceLocation()

Definition at line 172 of file pick_and_place.py.

move_group

pick_and_place.move_group = MoveGroupInterface("arm", "base_link", plan_only = args.plan)

Definition at line 70 of file pick_and_place.py.

obj_name

pick_and_place.obj_name = "object%d"%the_object

Definition at line 143 of file pick_and_place.py.

parser

pick_and_place.parser = argparse.ArgumentParser(description="Simple demo of pick and place")

Definition at line 60 of file pick_and_place.py.

pick_result

pick_and_place.pick_result

Definition at line 166 of file pick_and_place.py.

pickplace

pick_and_place.pickplace = PickPlaceInterface("arm", "gripper", plan_only = args.plan, verbose = True)

Definition at line 78 of file pick_and_place.py.

place_result

pick_and_place.place_result

Definition at line 194 of file pick_and_place.py.

places

pick_and_place.places = list()

Definition at line 171 of file pick_and_place.py.

plan_grasps

pick_and_place.plan_grasps

Definition at line 87 of file pick_and_place.py.

pose

pick_and_place.pose

Definition at line 173 of file pick_and_place.py.

post_place_posture

pick_and_place.post_place_posture

Definition at line 178 of file pick_and_place.py.

post_place_retreat

pick_and_place.post_place_retreat

Definition at line 180 of file pick_and_place.py.

pre_place_approach

pick_and_place.pre_place_approach

Definition at line 179 of file pick_and_place.py.

ready_pose

list pick_and_place.ready_pose = [-1.393150, -0.103543, 0, -1.608378, -0.458660, -0.1, -2.611218]

Definition at line 50 of file pick_and_place.py.

scene

pick_and_place.scene = PlanningSceneInterface("base_link")

Definition at line 77 of file pick_and_place.py.

success

pick_and_place.success

Definition at line 166 of file pick_and_place.py.

support_name

pick_and_place.support_name

Definition at line 166 of file pick_and_place.py.

support_surface

pick_and_place.support_surface = find_result.objects[the_object].object.support_surface

Definition at line 162 of file pick_and_place.py.

the_object

int pick_and_place.the_object = None

Definition at line 104 of file pick_and_place.py.

the_object_dist

pick_and_place.the_object_dist = 0.35

Definition at line 105 of file pick_and_place.py.

type

pick_and_place.type

Definition at line 66 of file pick_and_place.py.

unknown

pick_and_place.unknown

Definition at line 67 of file pick_and_place.py.

wait

pick_and_place.wait

Definition at line 112 of file pick_and_place.py.

y

pick_and_place.y

Definition at line 176 of file pick_and_place.py.