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* Rename pruneInterface() -> resolveInterface() * Rename accepted (interface) -> expected * Improve exception strings
769 B
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