def place(self, name, locations, wait=True, **kwargs):
# Check arguments
supported_args = ("allow_gripper_support_collision",
"allowed_touch_objects", "goal_is_eef", "plan_only",
"planner_id", "planning_scene_diff", "planning_time",
"support_name")
for arg in kwargs.keys():
if not arg in supported_args:
rospy.loginfo("place: unsupported argument: %s", arg)
# Create goal
g = PlaceGoal()
# 1. Name of ARM planning group
g.group_name = self._group
# 2. Name of attached object to place
g.attached_object_name = name
# 3. Possible locations to place
g.place_locations = locations
# 4. If true, using eef pose (same as pick)
try:
g.place_eef = kwargs["goal_is_eef"]
except KeyError:
g.place_eef = False
# 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
# 8. Fill in path_constraints
# 9. Fill in planner id
try:
g.planner_id = kwargs["planner_id"]
except KeyError:
if self.planner_id:
g.planner_id = self.planner_id
# 10. 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()
# 11. Planning time
try:
g.allowed_planning_time = kwargs["planning_time"]
except KeyError:
g.allowed_planning_time = self.allowed_planning_time
# 12. 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._place_action.send_goal(g)
if wait:
self._place_action.wait_for_result()
return self._place_action.get_result()
else:
return None
def place(self, name, locations, wait=True, **kwargs):
# Check arguments
supported_args = ("allow_gripper_support_collision",
"allowed_touch_objects",
"goal_is_eef",
"plan_only",
"planner_id",
"planning_time",
"support_name")
for arg in kwargs.keys():
if not arg in supported_args:
rospy.loginfo("place: unsupported argument: %s", arg)
# Create goal
g = PlaceGoal()
# 1. Name of ARM planning group
g.group_name = self._group
# 2. Name of attached object to place
g.attached_object_name = name
# 3. Possible locations to place
g.place_locations = locations
# 4. If true, using eef pose (same as pick)
try:
g.place_eef = kwargs["goal_is_eef"]
except KeyError:
g.place_eef = False
# 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
# 8. Fill in path_constraints
# 9. Fill in planner id
try:
g.planner_id = kwargs["planner_id"]
except KeyError:
if self.planner_id:
g.planner_id = self.planner_id
# 10. 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()
# 11. Planning time
try:
g.allowed_planning_time = kwargs["planning_time"]
except KeyError:
g.allowed_planning_time = self.allowed_planning_time
# 12. 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._place_action.send_goal(g)
if wait:
self._place_action.wait_for_result()
return self._place_action.get_result()
else:
return None
