moveit_task_constructor/pick+place.org
Robert Haschke 499fcfb04b cleanup / renaming
* Rename pruneInterface() -> resolveInterface()
* Rename accepted (interface) -> expected
* Improve exception strings
2020-04-10 20:11:51 +02:00

769 B

capability params

  • overall planning timeout
  • max number of solutions

Pick

  • possible_grasps -> fixed list
  • instantiate GraspProvider+Task on each call (eventually cache)
  • object
  • key-value parameter map (passed on to Action Server)

GraspProvider params

  • eef (hand_group, arm_group, parent link)

    • hand_group: default from arm_group
    • arm_group: default from hand_group
    • grasp frame (PoseStamped rel. zu Link fest zu Tip-Link im Arm)
  • key-value parameter map (passed on to Action Server)

    • grasp config
    • action server name (with default)

PlaceProvider params

  • PlaceLocation[]
  • surface_name: sample PlaceLocations, disable collision with table during IK

GraspMsg

  • grasp frame?
  • no-collision links (during closing)
  • no-collision