def createPickupGoal(group="arm_torso", target="part",
grasp_pose=PoseStamped(),
possible_grasps=[],
links_to_allow_contact=None):
""" Create a PickupGoal with the provided data"""
pug = PickupGoal()
pug.target_name = target
pug.group_name = group
pug.possible_grasps.extend(possible_grasps)
pug.allowed_planning_time = 35.0
pug.planning_options.planning_scene_diff.is_diff = True
pug.planning_options.planning_scene_diff.robot_state.is_diff = True
pug.planning_options.plan_only = False
pug.planning_options.replan = True
pug.planning_options.replan_attempts = 1 # 10
pug.allowed_touch_objects = []
pug.attached_object_touch_links = ['<octomap>']
pug.attached_object_touch_links.extend(links_to_allow_contact)
return pug
def createPickupGoal(group="arm_torso", target="part", grasp_pose=PoseStamped(), possible_grasps=[], links_to_allow_contact=None): """ Create a PickupGoal with the provided data""" pug = PickupGoal() pug.target_name = target pug.group_name = group pug.possible_grasps.extend(possible_grasps) pug.allowed_planning_time = 35.0 pug.planning_options.planning_scene_diff.is_diff = True pug.planning_options.planning_scene_diff.robot_state.is_diff = True pug.planning_options.plan_only = False pug.planning_options.replan = True pug.planning_options.replan_attempts = 1 # 10 pug.allowed_touch_objects = [] pug.attached_object_touch_links = ['<octomap>'] pug.attached_object_touch_links.extend(links_to_allow_contact) return pug
def pick(self,
object_name,
grasp,
support_name='',
planner='BKPIECEkConfigDefault'):
goal = PickupGoal()
goal.target_name = object_name
goal.group_name = self.name
goal.end_effector = '{0}_gripper'.format(self.side)
goal.allowed_planning_time = 50
goal.support_surface_name = support_name # @TODO Anadir este parametro con info del shelfdetector
goal.planner_id = planner
goal.allow_gripper_support_collision = True
goal.attached_object_touch_links = [
'bender/l_int_finger_link', 'bender/l_ext_finger_link',
'bender/l_wrist_pitch_link'
]
goal.allowed_touch_objects = ['pringles']
#goal.path_constraints = path_constraints
goal.possible_grasps = grasp
self.pick_client.send_goal(goal)
def create_pickup_goal(group='arm_torso',
target='part',
grasp_pose=PoseStamped(),
possible_grasps=[],
links_to_allow_contact=None):
# create MoveIt pickup goal with the provided data
pickup_goal = PickupGoal()
pickup_goal.target_name = target
pickup_goal.group_name = group
pickup_goal.possible_grasps.extend(possible_grasps)
pickup_goal.allowed_planning_time = 35.0
pickup_goal.planning_options.planning_scene_diff.is_diff = True
pickup_goal.planning_options.planning_scene_diff.robot_state.is_diff = True
pickup_goal.planning_options.plan_only = False
pickup_goal.planning_options.replan = True
pickup_goal.planning_options.replan_attempts = 50
pickup_goal.allowed_touch_objects = [
target
] # name of the collision object we intend to pick
pickup_goal.attached_object_touch_links = []
pickup_goal.attached_object_touch_links.extend(links_to_allow_contact)
return pickup_goal
def pickup(self, name, grasps, wait=True, **kwargs):
# Check arguments
supported_args = ("allow_gripper_support_collision",
"allowed_touch_objects", "plan_only", "planner_id",
"planning_scene_diff", "planning_time",
"support_name")
for arg in kwargs.keys():
if not arg in supported_args:
rospy.loginfo("pickup: unsupported argument: %s", arg)
# Create goal
g = PickupGoal()
# 1. Fill in target name
g.target_name = name
# 2. Fill in group name
g.group_name = self._group
# 3. Fill in end effector
g.end_effector = self._effector
# 4. List of grasps
g.possible_grasps = grasps
# 5. Fill in support surface
try:
g.support_surface_name = kwargs["support_name"]
except KeyError:
g.support_surface_name = ""
# 6. Can gripper contact the support surface (named above)
try:
g.allow_gripper_support_collision = kwargs[
"allow_gripper_support_collision"]
except KeyError:
g.allow_gripper_support_collision = True
# 7. What links are part of the "gripper" (and can contact the object/surface)
try:
g.attached_object_touch_links = kwargs[
"attached_object_touch_links"]
except KeyError:
g.attached_object_touch_links = list(
) # empty list = use all links of end-effector
# 8. Fill in minimize_object_distance
# 9. Fill in path_constraints
# 10. Fill in planner id
try:
g.planner_id = kwargs["planner_id"]
except KeyError:
if self.planner_id:
g.planner_id = self.planner_id
# 11. List of obstacles that we are allowed to touch
try:
g.allowed_touch_objects = kwargs["allowed_touch_objects"]
except KeyError:
g.allowed_touch_objects = list()
# 12. Planning time
try:
g.allowed_planning_time = kwargs["planning_time"]
except KeyError:
g.allowed_planning_time = self.allowed_planning_time
# 13. Planning options
try:
g.planning_options.planning_scene_diff = kwargs[
"planning_scene_diff"]
except KeyError:
g.planning_options.planning_scene_diff.is_diff = True
g.planning_options.planning_scene_diff.robot_state.is_diff = True
g.planning_options.plan_only = self._plan_only
self._pick_action.send_goal(g)
if wait:
self._pick_action.wait_for_result()
return self._pick_action.get_result()
else:
return None
def pickup(self, name, grasps, wait=True, **kwargs):
# Check arguments
supported_args = ("allow_gripper_support_collision",
"allowed_touch_objects",
"plan_only",
"planner_id",
"planning_time",
"support_name")
for arg in kwargs.keys():
if not arg in supported_args:
rospy.loginfo("pickup: unsupported argument: %s", arg)
# Create goal
g = PickupGoal()
# 1. Fill in target name
g.target_name = name
# 2. Fill in group name
g.group_name = self._group
# 3. Fill in end effector
g.end_effector = self._effector
# 4. List of grasps
g.possible_grasps = grasps
# 5. Fill in support surface
try:
g.support_surface_name = kwargs["support_name"]
except KeyError:
g.support_surface_name = ""
# 6. Can gripper contact the support surface (named above)
try:
g.allow_gripper_support_collision = kwargs["allow_gripper_support_collision"]
except KeyError:
g.allow_gripper_support_collision = True
# 7. What links are part of the "gripper" (and can contact the object/surface)
try:
g.attached_object_touch_links = kwargs["attached_object_touch_links"]
except KeyError:
g.attached_object_touch_links = list() # empty list = use all links of end-effector
# 8. Fill in minimize_object_distance
# 9. Fill in path_constraints
# 10. Fill in planner id
try:
g.planner_id = kwargs["planner_id"]
except KeyError:
if self.planner_id:
g.planner_id = self.planner_id
# 11. List of obstacles that we are allowed to touch
try:
g.allowed_touch_objects = kwargs["allowed_touch_objects"]
except KeyError:
g.allowed_touch_objects = list()
# 12. Planning time
try:
g.allowed_planning_time = kwargs["planning_time"]
except KeyError:
g.allowed_planning_time = self.allowed_planning_time
# 13. Planning options
g.planning_options.planning_scene_diff.is_diff = True
g.planning_options.planning_scene_diff.robot_state.is_diff = True
g.planning_options.plan_only = self._plan_only
self._pick_action.send_goal(g)
if wait:
self._pick_action.wait_for_result()
return self._pick_action.get_result()
else:
return None
