director.debrisdemo module

class director.debrisdemo.DebrisPlannerDemo(robotStateModel, sensorJointController, playbackRobotModel, ikPlanner, manipPlanner, atlasDriver, handDriver, multisenseDriver, refitFunction)

Bases: object

adjustPreGrasp()

autonomousExecute()

clearPlan()

closeHand()

commit()

delay(delayTimeInSeconds)

drop()

extendArm()

getEstimatedRobotStatePose()

getPlanningStartPose()

grasp()

nominal()

openHand()

pauseQueue()

playManipPlan()

preGrasp()

printAsync(s)

reset()

retract()

search()

sendHeightMode()

sendNeckPitchLookDown()

sendNeckPitchLookForward()

sendPelvisCrouch()

sendPelvisStand()

spinLidar()

stand()

toggleAffordanceEdit()

useEndPose(index)

userPrompt(message)

waitForAtlasBehaviorAsync(behaviorName)

waitForCleanLidarSweepAsync()

class director.debrisdemo.GraspSearchPlanner(ikPlanner, robotModel, jointController, sensorJointController, planPlaybackFunction, showPoseFunction, playbackRobotModel)

Bases: object

commitState()

computeArmExtend()

computeEndGraspTraj()

computeGraspEndPose()

computeGraspEndPoseFrames()

computeGraspEndPoseSearch()

computeGraspFrame()

computeGraspFrameSamples()

computeGraspFrameSamplesBoard()

computeGraspReach()

computeGraspTraj(poseStart='q_start', poseEnd='grasp_end_pose', timeSamples=None)

computeGroundFrame(robotModel)

Given a robol model, returns a vtkTransform at a position between the feet, on the ground, with z-axis up and x-axis aligned with the robot pelvis x-axis.

computeInitialState()

computePreGraspAdjustment()

computePreGraspEndPose()

computePreGraspFrame(preGraspDistance=0.2)

computePreGraspTraj()

computeRetractTraj()

createGraspConstraints()

createPreGraspConstraints()

createPreReachConstraint()

createRetractGraspConstraints()

createSearchGraspConstraints()

createSearchGraspConstraintsBoard()

endPoseSearch()

findAffordance()

findAffordanceChild(name)

getAffordanceChild(name)

getAffordanceFrame()

playManipPlan()

randomAffordance(robotModel)

showGraspEndPose()

showPreGraspEndPose()

spawnAffordance(robotModel, randomize=False)

updateGraspEndPose(enableSearch=True)

updateHandModel()

useGraspEndPoseOption(index)