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https://github.com/moveit/moveit_task_constructor.git
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pick: expose IK link frame as eef_frame
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@ -17,8 +17,10 @@ Pick::Pick(Stage::pointer&& grasp_stage, const std::string& name)
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: SerialContainer(name)
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{
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PropertyMap& p = properties();
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p.declare<std::string>("eef", "end effector name");
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p.declare<std::string>("object", "name of object to grasp");
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p.declare<std::string>("eef", "end effector name");
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p.declare<std::string>("eef_frame", "name of end effector frame");
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// internal properties (cannot be marked as such yet)
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p.declare<std::string>("eef_group", "JMG of eef");
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p.declare<std::string>("eef_parent_group", "JMG of eef's parent");
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@ -47,6 +49,7 @@ Pick::Pick(Stage::pointer&& grasp_stage, const std::string& name)
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auto approach = std::make_unique<MoveRelative>("approach object", cartesian_solver_);
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PropertyMap& p = approach->properties();
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p.property("group").configureInitFrom(Stage::PARENT, "eef_parent_group");
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p.property("link").configureInitFrom(Stage::PARENT, "eef_frame");
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p.set("marker_ns", std::string("approach"));
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approach_stage_ = approach.get();
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insert(std::move(approach));
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@ -60,6 +63,7 @@ Pick::Pick(Stage::pointer&& grasp_stage, const std::string& name)
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auto lift = std::make_unique<MoveRelative>("lift object", cartesian_solver_);
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PropertyMap& p = lift->properties();
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p.property("group").configureInitFrom(Stage::PARENT, "eef_parent_group");
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p.property("link").configureInitFrom(Stage::PARENT, "eef_frame");
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p.set("marker_ns", std::string("lift"));
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lift_stage_ = lift.get();
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insert(std::move(lift));
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