panda_autograsp.functions package

Submodules

panda_autograsp.functions.conversions module

A number of usefull ros data_type conversion functions.

panda_autograsp.functions.conversions.transform_stamped_2_matrix(transform_stamped)

Generate 4x4 homogeneous transformation matrix from a transform_stamped msg.

Parameters:transform_stamped (geometry_msgs.msgs.TransformStamped) – Stamped transform. Returns:Homogeneous 4x4 transformation matrix. Return type:numpy.array

panda_autograsp.functions.conversions.pose_msg_stamped_2_matrix(pose_msg)

Generate 4x4 homogeneous transformation matrix from a pose_stamped msg.

Parameters:pose_msg (geometry_msgs.msgs.PoseStamped) – Stamped pose message. Returns:Homogeneous 4x4 transformation matrix. Return type:numpy.array

panda_autograsp.functions.functions module

This modules contains some additional functions which are not part of a specific module.

panda_autograsp.functions.functions.download_model(model, model_output='/home/ricks/panda_autograsp_ws/src/panda_autograsp/src/models', download_script_path='/home/ricks/panda_autograsp_ws/src/panda_autograsp/gqcnn/scripts/downloads/models/download_models.sh')

This function downloads the Pretrained CNN models that are used in the panda_autograsp package, when they are not yet present on the system.

Parameters:

• model (str) – Name of the model you want to download.
• model_output (str, optional) – Path to the folder in which you want to place the downloaded models, by default DEFAULT_MODELS_PATH
• download_script_path (str, optional) – Path to the download description script, by default GQCNN_DOWNLOAD_SCRIPT_PATH

Returns:

Error code	Description
0	Model download successfull.
1	Model name invalid.
2	Model download error.
3	Model unzip error.
4	Something else went wrong.

Return type:

int

panda_autograsp.functions.functions.list_files(path='.', exclude=[], recursive=True, prepent_parent=False)

Returns a list of files that are present in a folder.

Parameters:

• path (str, optional) – Parent folder of which you want to list the files, by default .
• exclude (list, optional) – A list of files you want to exclude, by default []
• recursive (bool, optional) – Option specifying whether you also want to list files of subfolders, by default True
• level (int, optional) – If recursive is enabled this specifies up till how many levels deep you want to list the files, by default 0 (Defined as all levels).
• perpent_parent (bool, optional) – Options specifying whether you want to prepent the parent dir to the output paths.

Returns:

A list containing the relative paths of all the files in the parent folder.

Return type:

List

panda_autograsp.functions.functions.yes_or_no(question, add_options=True)

Simple yes or no prompt.

Parameters:

• question (str) – Question of the yes or no prompt.
• add_options (bool) – Include option statement (Y/n) after the question.

Returns:

Boolean specifying if the user gave the right response.

Return type:

bool

panda_autograsp.functions.functions.draw_axis(img, corners, imgpts)

Takes the corners in the chessboard (obtained using cv2.findChessboardCorners()) and axis points to draw a 3D axis.

Parameters:

• img (numpy.ndarray) – Image
• corners (pyton2.tuple) – Chess board corner points.
• imgpts (nmpy.ndarray) – Axis points.

Returns:

Image on which the chessboard corners have been drawn.

Return type:

numpy.ndarray

panda_autograsp.functions.moveit module

Additional moveit helper functions.

panda_autograsp.functions.moveit.get_trajectory_duration(trajectory)

This function returns the duration of a given moveit trajectory.

Parameters:trajectory (moveit_msgs.msg.DisplayTrajectory) – The computed display trajectory. Returns:Trajectory duration in seconds. Return type:float

panda_autograsp.functions.moveit.plan_exists(plan)

This function can be used to check if a plan trajectory was computed.

Parameters:plan (moveit_msgs.msg.RobotTrajectory) – The computed robot trajectory. Returns:Bool specifying if a trajectory is present Return type:bool

panda_autograsp.functions.moveit.at_joint_target(current, desired, goal_tolerance)

This function can be used to check if the move_group is already at the desired joint target.

Parameters:

• current (list) – The current joint configuration.
• desired (list) – The desired joint target.
• goal_tolerance (float) – The planner target goal tolerance.

Returns:

Bool specifying if move_group is already at the goal target.

Return type:

bool

panda_autograsp.functions.moveit.add_collision_objects(scene_commander, collision_cfg)

Add the collision objects that are specified in the collision_cfg collections.OrderedDict to the moveit planner scene. Supported constraint types are:

• Box
• Cube
• Cylinder
• Mesh

For more information see http://bit.ly/32GuuMN.

Parameters:

• scene_commander (moveit_commander.PlanningSceneInterface) – The moveit scene commander object.
• collision_cfg (collections.OrderedDict) – The dictionary specifying all the moveit scene constraints.

panda_autograsp.functions.moveit.wait_for_state_update(scene_commander, collision_obj, is_known=False, is_attached=False, timeout=4)

Validate if collision object state change was successful.

Parameters:

• scene_commander (moveit_commander.PlanningSceneInterface) – The moveit scene commander object.
• collision_obj (moveit_collision_objects) – The moveit collision object.
• is_known (bool, optional) – Bool specifying whether an object is known, by default False
• is_attached (bool, optional) – Bool specifying whether an object is attached to something, by default False
• timeout (int, optional) – The validation timeout time, by default 4

Returns:

• bool – Boolean specifying whether the scene update was successful.
• .. note:: – Note that attaching the box will remove it from known_objects.

Module contents

Module containing a number of functions that are used by the panda_autograsp package.

functions.download_model(model[, …])	This function downloads the Pretrained CNN models that are used in the panda_autograsp package, when they are not yet present on the system.
functions.list_files([path, exclude, …])	Returns a list of files that are present in a folder.
functions.yes_or_no(question[, add_options])	Simple yes or no prompt.
functions.draw_axis(img, corners, imgpts)	Takes the corners in the chessboard (obtained using cv2.findChessboardCorners()) and axis points to draw a 3D axis.
moveit.get_trajectory_duration(trajectory)	This function returns the duration of a given moveit trajectory.
moveit.plan_exists(plan)	This function can be used to check if a plan trajectory was computed.
moveit.at_joint_target(current, desired, …)	This function can be used to check if the move_group is already at the desired joint target.
moveit.add_collision_objects(…)	Add the collision objects that are specified in the collision_cfg collections.OrderedDict to the moveit planner scene.
moveit.wait_for_state_update(…[, …])	Validate if collision object state change was successful.
conversions.transform_stamped_2_matrix(…)	Generate 4x4 homogeneous transformation matrix from a transform_stamped msg.
conversions.pose_msg_stamped_2_matrix(pose_msg)	Generate 4x4 homogeneous transformation matrix from a pose_stamped msg.