def run_pick(self, object_name, grasps):
pickup_goal = PickupGoal()
pickup_goal.target_name = object_name
pickup_goal.group_name = "left_arm"
pickup_goal.possible_grasps = grasps
# Augh. I *think* that this only handles if invalidated during execution, not during planning.
pickup_goal.planning_options.replan = True
pickup_goal.planning_options.replan_attempts = 5
pickup_goal.planning_options.replan_delay = 3.0
pickup_goal.planning_options.planning_scene_diff.is_diff = True
pickup_goal.planning_options.planning_scene_diff.robot_state.is_diff = True
# commenting these out b/c not allowed by the moveit_commander interface
pickup_goal.support_surface_name = "table"
pickup_goal.allow_gripper_support_collision = True
pickup_goal.allowed_planning_time = 5.0
# TODO: this shouldn't be required, I dont' think!
#pickup_goal.allowed_touch_objects.append(userdata.object_name)
# THIS IS THE ACTIONLIB APPROACH
# Fill in the goal here
self.pickup_client.send_goal(pickup_goal)
self.pickup_client.wait_for_result()
pickup_result = self.pickup_client.get_result()
print 'Pickup result: %d' % (pickup_result.error_code.val, )
if pickup_result.error_code.val == 1:
return True
else:
return False
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 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
