Index

_

__init__() (collision_environment.CollisionEnvironment method) (direct_grasppose_estimator.DirectGraspposeEstimatorCaller method) (execute_grasp_action_server.ExecuteGraspServer method) (find_table_planes.FindTablePlanes method) (grasp_annotator.FailList method) (grasp_annotator.GraspAnnotator method) (grasppose_estimator.FindGrasppointServer method) (hsr_wrapper.HSR_wrapper method) (image_fetcher.SynchronizedImageFetcher method) (moveit_wrapper.MoveitWrapper method) (object_detector.CallObjectDetectorService method) (place.PlaceObjectServer method) (pose_estimator.CallPoseEstimatorService method) (robot_control.CheckTopGrasp method) (robot_control.GoBack method) (robot_control.GoToAndLookAtPlacementArea method) (robot_control.GoToNeutral method) (robot_control.GoToNeutralMoveIt method) (robot_control.GoToWaypoint method) (robot_control.MoveToJointPositions method) (robot_control.OpenGripper method) (statemachine_llm.LLM_Wrapper method) (userinput.UserInput method) (visualizer.PoseEstimationVisualizerRos method)

A

add_bb_marker() (direct_grasppose_estimator.DirectGraspposeEstimatorCaller method) (grasppose_estimator.FindGrasppointServer method) add_box() (moveit_wrapper.MoveitWrapper method) add_cylinder() (moveit_wrapper.MoveitWrapper method) add_floor_plane() (collision_environment.CollisionEnvironment method) add_marker() (direct_grasppose_estimator.DirectGraspposeEstimatorCaller method) (grasppose_estimator.FindGrasppointServer method) (place.PlaceObjectServer method)

add_model_from_sdf() (moveit_wrapper.MoveitWrapper method) add_orientation_constraint() (moveit_wrapper.MoveitWrapper method) all_close() (moveit_wrapper.MoveitWrapper method) annotate() (grasp_annotator.GraspAnnotator method) attach_object() (moveit_wrapper.MoveitWrapper method)

B

bb_image_pub (object_detector.CallObjectDetectorService attribute) bb_vis (place.PlaceObjectServer attribute)

bridge (direct_grasppose_estimator.DirectGraspposeEstimatorCaller attribute) (pose_estimator.CallPoseEstimatorService attribute)

C

call_placement_area_detector() (place.PlaceObjectServer method) callback() (image_fetcher.SynchronizedImageFetcher method) CallObjectDetectorService (class in object_detector) CallPoseEstimatorService (class in pose_estimator) cam_info (direct_grasppose_estimator.DirectGraspposeEstimatorCaller attribute) (grasppose_estimator.FindGrasppointServer attribute) check_label_img() (in module object_detector) CheckTopGrasp (class in robot_control)

clear_path_constraints() (moveit_wrapper.MoveitWrapper method) collision_environment module CollisionEnvironment (class in collision_environment) convert_label_img_to_2D_BB() (object_detector.CallObjectDetectorService method) create_statemachine() (in module statemachine) (in module statemachine_llm) current_pose_close_to_target() (moveit_wrapper.MoveitWrapper method)

D

depth_image (image_fetcher.SynchronizedImageFetcher attribute) detach_all_objects() (moveit_wrapper.MoveitWrapper method) detect_placement_areas() (place.PlaceObjectServer method)

direct_grasppose_estimator module DirectGraspposeEstimatorCaller (class in direct_grasppose_estimator)

E

execute() (collision_environment.CollisionEnvironment method) (direct_grasppose_estimator.DirectGraspposeEstimatorCaller method) (execute_grasp_action_server.ExecuteGraspServer method) (find_table_planes.FindTablePlanes method) (grasppose_estimator.FindGrasppointServer method) (object_detector.CallObjectDetectorService method) (place.PlaceObjectServer method) (pose_estimator.CallPoseEstimatorService method) (robot_control.GoToAndLookAtPlacementArea method) (userinput.UserInput method)

execute_grasp_action_server module ExecuteGraspServer (class in execute_grasp_action_server)

F

FailList (class in grasp_annotator) fetch() (image_fetcher.SynchronizedImageFetcher method) find_intersecting_table_plane() (place.PlaceObjectServer method)

find_table_planes module FindGrasppointServer (class in grasppose_estimator) FindTablePlanes (class in find_table_planes)

G

get_3D_bbs() (direct_grasppose_estimator.DirectGraspposeEstimatorCaller method) get_attached_objects() (moveit_wrapper.MoveitWrapper method) get_bb_3D_from_bb() (direct_grasppose_estimator.DirectGraspposeEstimatorCaller method) get_bb_3D_from_mask() (direct_grasppose_estimator.DirectGraspposeEstimatorCaller method) get_bb_center_poses() (direct_grasppose_estimator.DirectGraspposeEstimatorCaller method) get_bb_for_known_objects() (grasppose_estimator.FindGrasppointServer method) get_clear_table_sm() (in module statemachine) get_closest_object() (direct_grasppose_estimator.DirectGraspposeEstimatorCaller method) get_closest_objects() (grasppose_estimator.FindGrasppointServer method) get_current_eef_pose() (moveit_wrapper.MoveitWrapper method) get_current_pose() (moveit_wrapper.MoveitWrapper method) get_execute_grasp_sm() (in module statemachine_components) get_find_grasp_sm() (in module statemachine_components) get_link_names() (moveit_wrapper.MoveitWrapper method) get_object_bb_orientation_after_placement() (place.PlaceObjectServer method) get_object_detection_sm() (in module statemachine_llm) get_object_detector_sm() (in module statemachine_components) get_object_poses() (moveit_wrapper.MoveitWrapper method) get_objects() (moveit_wrapper.MoveitWrapper method) get_placement_sm() (in module statemachine_components)

get_planning_frame() (moveit_wrapper.MoveitWrapper method) get_pose_estimator_sm() (in module statemachine_components) get_robot_setup_sm() (in module statemachine_components) get_single_grasp_sm() (in module statemachine) get_surface_to_wrist_transform() (place.PlaceObjectServer method) get_transform_from_wrist_to_object_bottom_plane() (execute_grasp_action_server.ExecuteGraspServer method) GoBack (class in robot_control) GoToAndLookAtPlacementArea (class in robot_control) GoToNeutral (class in robot_control) GoToNeutralMoveIt (class in robot_control) GoToWaypoint (class in robot_control) grasp_annotator module grasp_succesful() (hsr_wrapper.HSR_wrapper method) GraspAnnotator (class in grasp_annotator) grasppose_estimator module gripper_grasp() (moveit_wrapper.MoveitWrapper method) gripper_grasp_hsr() (hsr_wrapper.HSR_wrapper method) gripper_open() (moveit_wrapper.MoveitWrapper method) gripper_open_hsr() (hsr_wrapper.HSR_wrapper method)

H

handle_userinput() (userinput.UserInput method) hsr_wrapper module

HSR_wrapper (class in hsr_wrapper) hsr_wrapper (execute_grasp_action_server.ExecuteGraspServer attribute) (place.PlaceObjectServer attribute)

I

image_fetcher module init_moveit() (moveit_wrapper.MoveitWrapper method)

is_grasp_reachable() (grasp_annotator.GraspAnnotator method) is_grasp_valid() (grasp_annotator.GraspAnnotator method) is_gripper_collision_free() (grasp_annotator.GraspAnnotator method)

L

label_image_pub (object_detector.CallObjectDetectorService attribute)

LLM_Wrapper (class in statemachine_llm) load_meshes() (visualizer.PoseEstimationVisualizerRos method)

M

marker_pub (direct_grasppose_estimator.DirectGraspposeEstimatorCaller attribute) (grasppose_estimator.FindGrasppointServer attribute) models_metadata (grasppose_estimator.FindGrasppointServer attribute) module collision_environment direct_grasppose_estimator execute_grasp_action_server find_table_planes grasp_annotator grasppose_estimator hsr_wrapper image_fetcher moveit_wrapper object_detector place pose_estimator robot_control statemachine statemachine_components statemachine_llm userinput visualizer

move_eef_by_delta() (hsr_wrapper.HSR_wrapper method) move_eef_by_line() (hsr_wrapper.HSR_wrapper method) moveit (place.PlaceObjectServer attribute) moveit_wrapper module moveit_wrapper (execute_grasp_action_server.ExecuteGraspServer attribute) MoveitWrapper (class in moveit_wrapper) MoveToJointPositions (class in robot_control)

O

object_detector module

OpenGripper (class in robot_control)

P

place module place() (moveit_wrapper.MoveitWrapper method) PlaceObjectServer (class in place)

pose_estimator module PoseEstimationVisualizerRos (class in visualizer) print_menu() (userinput.UserInput method) publish_pose_estimation_result() (visualizer.PoseEstimationVisualizerRos method)

Q

qv_mult() (in module execute_grasp_action_server)

R

res_vis_service (pose_estimator.CallPoseEstimatorService attribute) reset_impedance_config() (hsr_wrapper.HSR_wrapper method)

rgb_image (image_fetcher.SynchronizedImageFetcher attribute) robot_control module

S

server (execute_grasp_action_server.ExecuteGraspServer attribute) (grasppose_estimator.FindGrasppointServer attribute) (place.PlaceObjectServer attribute) service (image_fetcher.SynchronizedImageFetcher attribute) service_callback() (visualizer.PoseEstimationVisualizerRos method) set_endeffector() (moveit_wrapper.MoveitWrapper method) set_impedance_config() (hsr_wrapper.HSR_wrapper method) set_support_surface() (moveit_wrapper.MoveitWrapper method) set_whole_body_acc() (moveit_wrapper.MoveitWrapper method) set_whole_body_vel() (moveit_wrapper.MoveitWrapper method) sort_closest_plane() (place.PlaceObjectServer method) sort_grasps_by_orientation() (execute_grasp_action_server.ExecuteGraspServer method)

sort_placement_areas_by_distance() (place.PlaceObjectServer method) split_label_image_into_masks_np() (object_detector.CallObjectDetectorService method) split_label_image_into_masks_ros() (object_detector.CallObjectDetectorService method) srv (direct_grasppose_estimator.DirectGraspposeEstimatorCaller attribute) (object_detector.CallObjectDetectorService attribute) (pose_estimator.CallPoseEstimatorService attribute) statemachine module statemachine_components module statemachine_llm module SynchronizedImageFetcher (class in image_fetcher)

T

tf2_wrapper (place.PlaceObjectServer attribute) tf_wrapper (execute_grasp_action_server.ExecuteGraspServer attribute) timeout (grasppose_estimator.FindGrasppointServer attribute)

transform_plane_normal() (place.PlaceObjectServer method) transform_to_kdl() (grasppose_estimator.FindGrasppointServer method) tts_say() (hsr_wrapper.HSR_wrapper method)

U

userinput module

UserInput (class in userinput)

V

visualize_label_image() (in module object_detector) visualize_pose_estimation_result() (pose_estimator.CallPoseEstimatorService method)

visualize_rois() (in module object_detector) visualizer module

W

whole_body_IK() (moveit_wrapper.MoveitWrapper method) whole_body_IK_cartesian() (moveit_wrapper.MoveitWrapper method)

whole_body_IK_cartesian_plan() (moveit_wrapper.MoveitWrapper method) whole_body_IK_cartesian_with_timeout() (moveit_wrapper.MoveitWrapper method) whole_body_plan_and_go() (moveit_wrapper.MoveitWrapper method)