def pickup_object(
self,
graspable,
graspable_name,
table_name,
which_arm,
execute=True,
lift_desired_distance=0.1,
lift_min_distance=0.05,
allow_support_collision=True,
ignore_collisions=False,
desired_grasps=None,
wait=rospy.Duration(),
):
"""Picks up a previously detected object.
Parameters:
graspable: an object_manipulation_msgs/GraspableObject msg instance.
This usually comes from a Detector.call_collision_map_processing call.
graspable_name: the name of the object to graps. It is provided by
Detector.call_collision_map_processing.
table_name: the name of the table. Again provided by Detector.call_collision_map_processing.
which_arm: left_arm or right_arm
exectute: True|False, whether to execute the grasp or just check for
feasibility
lift_desired_distance: the desired lift distance
lift_min_distance: the min distance that must be considered
feasible before the grasp is even attempted
allow_support_collision: whether collisions between the gripper and the support
surface should be acceptable during move from pre-grasp to grasp and
during lift. Collisions when moving to the pre-grasp location are still not allowed even
if this is set to true.
ignore_collisions: set this to true if you want to ignore all collisions throughout
the pickup and also move directly to the pre-grasp using
Cartesian controllers
desired_grasps: a list of custom grasps. If not set, pickup will automatically generate grasps.
wait: how long to wait for the action to be successful
Return:
a object_manipulation_msgs.PickupResult msg
"""
rospy.loginfo("Calling the pickup action")
pickup_goal = PickupGoal()
pickup_goal.target = graspable
pickup_goal.collision_object_name = graspable_name
pickup_goal.collision_support_surface_name = table_name
pickup_goal.only_perform_feasibility_test = not execute
pickup_goal.arm_name = which_arm
pickup_goal.lift.direction.header.frame_id = "base_link"
pickup_goal.lift.direction.vector.x = 0
pickup_goal.lift.direction.vector.y = 0
pickup_goal.lift.direction.vector.z = 1
pickup_goal.lift.desired_distance = lift_desired_distance
pickup_goal.lift.min_distance = lift_min_distance
# do not use tactile-based grasping or tactile-based lift
pickup_goal.use_reactive_lift = False
pickup_goal.use_reactive_execution = False
pickup_goal.allow_gripper_support_collision = allow_support_collision
pickup_goal.ignore_collisions = ignore_collisions
if desired_grasps:
pickup_goal.desired_grasps = desired_grasps
self.pickup_client.send_goal_and_wait(pickup_goal, wait)
res = self.pickup_client.get_result()
assert isinstance(res, PickupResult)
manipulation_result = res.manipulation_result
if manipulation_result.value != manipulation_result.SUCCESS:
rospy.logerr("Error during pickup")
return None
self.last_pickup_result = res
return res
