robot_smach_states.manipulation.active_grasp_detector
Classes
State for detecting whether the robot is holding something using the gripper position. |
Module Contents
- class robot_smach_states.manipulation.active_grasp_detector.ActiveGraspDetector(robot, arm_designator, threshold_difference=0.075, minimum_position=-0.82, max_torque=0.15)
Bases:
smach.StateState for detecting whether the robot is holding something using the gripper position.
Stores current position of the hand motor joint, slightly closes the gripper and then compares the new position with the first one. If the difference is bigger than the threshold, robot is holding something
If the object is too small/thin it will not be able to determine
- Parameters:
robot (robot_skills.robot.Robot) – Robot to execute the state with
arm_designator (robot_smach_states.util.designators.arm.ArmDesignator) – designator that resolves to arm to check
threshold_difference (float) – Difference between base and final position
minimum_position (float) – Minimum position to assume that the gripper is holding something
max_torque (float) – Max torque of the gripper to perform the test with
- REQUIRED_ARM_PROPERTIES
- robot
- arm_designator
- threshold_difference = 0.075
- minimum_position = -0.82
- max_torque = 0.15