diff --git a/core/src/stages/pick.cpp b/core/src/stages/pick.cpp index 8f234046..122c35d8 100644 --- a/core/src/stages/pick.cpp +++ b/core/src/stages/pick.cpp @@ -17,8 +17,10 @@ Pick::Pick(Stage::pointer&& grasp_stage, const std::string& name) : SerialContainer(name) { PropertyMap& p = properties(); - p.declare("eef", "end effector name"); p.declare("object", "name of object to grasp"); + p.declare("eef", "end effector name"); + p.declare("eef_frame", "name of end effector frame"); + // internal properties (cannot be marked as such yet) p.declare("eef_group", "JMG of eef"); p.declare("eef_parent_group", "JMG of eef's parent"); @@ -47,6 +49,7 @@ Pick::Pick(Stage::pointer&& grasp_stage, const std::string& name) auto approach = std::make_unique("approach object", cartesian_solver_); PropertyMap& p = approach->properties(); p.property("group").configureInitFrom(Stage::PARENT, "eef_parent_group"); + p.property("link").configureInitFrom(Stage::PARENT, "eef_frame"); p.set("marker_ns", std::string("approach")); approach_stage_ = approach.get(); insert(std::move(approach)); @@ -60,6 +63,7 @@ Pick::Pick(Stage::pointer&& grasp_stage, const std::string& name) auto lift = std::make_unique("lift object", cartesian_solver_); PropertyMap& p = lift->properties(); p.property("group").configureInitFrom(Stage::PARENT, "eef_parent_group"); + p.property("link").configureInitFrom(Stage::PARENT, "eef_frame"); p.set("marker_ns", std::string("lift")); lift_stage_ = lift.get(); insert(std::move(lift));