moveit_studio::behaviors::SetupMTCGraspAndTwistThenMoveAlongArcPush Class Reference

Configures MTC stages to grasp a location, rotate the end-effector about an axis to turn the grasp point (for example a handle), and then push the end-effector away from the robot base while still grasping (for example to open a door). More...

#include <setup_mtc_grasp_and_twist_then_move_along_arc_push.hpp>

Inheritance diagram for moveit_studio::behaviors::SetupMTCGraspAndTwistThenMoveAlongArcPush:

Collaboration diagram for moveit_studio::behaviors::SetupMTCGraspAndTwistThenMoveAlongArcPush:

Public Member Functions
	SetupMTCGraspAndTwistThenMoveAlongArcPush (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
BT::NodeStatus	tick () override
Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

Static Public Member Functions
static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Additional Inherited Members
Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Configures MTC stages to grasp a location, rotate the end-effector about an axis to turn the grasp point (for example a handle), and then push the end-effector away from the robot base while still grasping (for example to open a door).

The input data ports are generally calculated by separate perception processing Behaviors in a previous step of the Objective.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit::task_constructor::Task>
graspable_object	Input	moveit_studio_vision_msgs::msg::GraspableObject
handle_z_offset	Input	double
handle_length	Input	double
approach_distance	Input	double
push_open_distance	Input	double
move_distance	Input	double
use_circular_arc	Input	bool
monitored_stage	Input	std::string

Constructor & Destructor Documentation

SetupMTCGraspAndTwistThenMoveAlongArcPush()

moveit_studio::behaviors::SetupMTCGraspAndTwistThenMoveAlongArcPush::SetupMTCGraspAndTwistThenMoveAlongArcPush	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources
	)

Member Function Documentation

metadata()

BT::KeyValueVector moveit_studio::behaviors::SetupMTCGraspAndTwistThenMoveAlongArcPush::metadata ( )

static

providedPorts()

BT::PortsList moveit_studio::behaviors::SetupMTCGraspAndTwistThenMoveAlongArcPush::providedPorts ( )

static

tick()

BT::NodeStatus moveit_studio::behaviors::SetupMTCGraspAndTwistThenMoveAlongArcPush::tick ( )

override

Move To Approach Pose

Generate Pose at Approach Pose

Allow Collision

Approach Grasp

Rotate the door handle

Calculate affordance poses

Push door

move off the door handle

retract from door

Forbid Collision

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The documentation for this class was generated from the following files:

• setup_mtc_grasp_and_twist_then_move_along_arc_push.hpp
• setup_mtc_grasp_and_twist_then_move_along_arc_push.cpp