Performs grasp trials. More...

#include "run_trials.hh"

Functions
int	main (int _argc, char **_argv)

const std::string	getUsage (const char *argv_0)
	Obtains usage string. More...

void	parseArgs (int argc, char **argv, Config &config)
	Parses command-line arguments. More...

void	setupCommunications (gazebo::transport::NodePtr &node, std::map< std::string, gazebo::transport::PublisherPtr > &pubs, std::map< std::string, gazebo::transport::SubscriberPtr > &subs)
	Sets up gazebo communication pubs/subs. More...

void	obtainTargets (std::vector< std::string > &targets, const std::string &file_name)
	TODO. More...

bool	importGrasps (const std::string &grasp_cfg_dir, const std::string &robot, const std::string &object_name, std::vector< Grasp > &grasps)
	Obtain list of grasps in yml files. More...

void	exportGraspMetrics (const std::string &trials_out_dir, const std::string &robot, const std::string &object_name, const std::vector< Grasp > &grasps)
	Export set of metrics to file. More...

void	checkHandCollisions (gazebo::transport::PublisherPtr pub, const std::string &hand, std::vector< std::string > &targets)
	Requests collisions in the world. More...

void	getTargetPose (gazebo::transport::PublisherPtr pub, bool rest)

void	resetTarget (gazebo::transport::PublisherPtr pub)
	Resets target object to rest pose. More...

void	tryGrasp (Grasp &grasp, Interface &interface, std::map< std::string, gazebo::transport::PublisherPtr > &pubs, const std::string &target)
	Attempts to grasp object. More...

void	waitForTrigger (int timeout)
	Waits for condition variable. More...

void	onHandResponse (HandMsgPtr &_msg)
	TODO. More...

void	onTargetResponse (TargetResponsePtr &_msg)
	Callback for Target plugin response. More...

void	onContactResponse (ContactResponsePtr &_msg)
	TODO. More...

void	waitMs (int delay)
	TODO. More...

Variables
std::condition_variable	g_timeout_var

std::mutex	g_timeout_mutex
	Mutex for condition variables. More...

ignition::math::Pose3d	g_safe_pose {0,0,0.9,0,0,0}
	Global hand resting pose. More...

ignition::math::Pose3d	g_obj_pose {0.5,0.5,0.1,0,0,0}
	Global object pose. More...

ignition::math::Pose3d	g_rest_pose {0,0,0,0,0,0}
	Global object resting pose. More...

bool	g_success {false}
	Global trial outcome. More...

Detailed Description

Performs grasp trials.

TODO

Author: João Borrego : jsbruglie

Function Documentation

void checkHandCollisions	(	gazebo::transport::PublisherPtr	pub,
		const std::string &	hand,
		std::vector< std::string > &	targets
	)

Requests collisions in the world.

Parameters

pub	Publisher to contact topic
target	The target object name
hand	The hand model name

void exportGraspMetrics	(	const std::string &	trials_out_dir,
		const std::string &	robot,
		const std::string &	object_name,
		const std::vector< Grasp > &	grasps
	)

Export set of metrics to file.

Parameters

trials_out_dir	Output directory
robot	Target robot name
object_name	Target object name
grasps	Set of grasps to export to file

void getTargetPose	(	gazebo::transport::PublisherPtr	pub,
		bool	rest
	)

const std::string getUsage ( const char * argv_0 )

Obtains usage string.

Returns usage string.

Parameters

argv_0 Name of the executable

Returns: String with command-line usage

bool importGrasps	(	const std::string &	grasp_cfg_dir,
		const std::string &	robot,
		const std::string &	object_name,
		std::vector< Grasp > &	grasps
	)

Obtain list of grasps in yml files.

Parameters

grasp_cfg_dir	Directory for grasp files
robot	Target robot
object_name	Target object name
grasps	Output imported grasps

Returns: Whether import was successful

int main	(	int	_argc,
		char **	_argv
	)

void obtainTargets	(	std::vector< std::string > &	targets,
		const std::string &	file_name
	)

TODO.

Obtain list of models' names in dataset yml.

void onContactResponse ( ContactResponsePtr & _msg )

TODO.

void onHandResponse ( HandMsgPtr & _msg )

TODO.

void onTargetResponse ( TargetResponsePtr & _msg )

Callback for Target plugin response.

TODO.

void parseArgs	(	int	argc,
		char **	argv,
		Config &	config
	)

Parses command-line arguments.

Parameters

argc	Argument count
argv	Arguments
config	Configuration YAML node

void resetTarget ( gazebo::transport::PublisherPtr pub )

Resets target object to rest pose.

Parameters

pub	Publisher to target's topic

void setupCommunications	(	gazebo::transport::NodePtr &	node,
		std::map< std::string, gazebo::transport::PublisherPtr > &	pubs,
		std::map< std::string, gazebo::transport::SubscriberPtr > &	subs
	)

Sets up gazebo communication pubs/subs.

Parameters

node	Gazebo communication node pointer
pubs	Resulting map of publishers
subs	Resulting map of subscribers

void tryGrasp	(	Grasp &	grasp,
		Interface &	interface,
		std::map< std::string, gazebo::transport::PublisherPtr > &	pubs,
		const std::string &	model_name
	)

Attempts to grasp object.

Parameters

grasp	The grasp configuration
pubs	Map of publishers
model_name	Target object model name

void waitForTrigger ( int timeout = -1 )

Waits for condition variable.

Parameters

timeout Timeout value in milliseconds

void waitMs ( int delay )

inline

TODO.

Waits for delay milliseconds.

Variable Documentation

ignition::math::Pose3d g_obj_pose {0.5,0.5,0.1,0,0,0}

Global object pose.

ignition::math::Pose3d g_rest_pose {0,0,0,0,0,0}

Global object resting pose.

ignition::math::Pose3d g_safe_pose {0,0,0.9,0,0,0}

Global hand resting pose.

bool g_success {false}

Global trial outcome.

std::mutex g_timeout_mutex

Mutex for condition variables.

std::condition_variable g_timeout_var

Functions

Variables

Detailed Description

Function Documentation

Variable Documentation