Configures MTC stages to perform a motion that can be parameterized as a grasp followed by a pulling motion in a screw-trajectory (a circular arc). Examples in practice include opening pull doors and drawers. More...

#include <setup_mtc_grasp_then_move_along_arc_pull.hpp>

Inheritance diagram for moveit_studio::behaviors::SetupMTCGraspThenMoveAlongArcPull:

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Collaboration diagram for moveit_studio::behaviors::SetupMTCGraspThenMoveAlongArcPull:

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Public Member Functions
	SetupMTCGraspThenMoveAlongArcPull (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 perform a motion that can be parameterized as a grasp followed by a pulling motion in a screw-trajectory (a circular arc). Examples in practice include opening pull doors and drawers.

The following parameters are used to configure MTC stages added by this Behavior:

ARM_GROUP_NAME: group name used for planning
END_EFFECTOR_GROUP_NAME: group name for end effector, used to Open/Close gripper
END_EFFECTOR_NAME: name of end effector
IK_FRAME_NAME: frame name of the grasp pose, used for IK and relative motion planning
END_EFFECTOR_CLOSED_POSE_NAME: name of pose target for closing the gripper
END_EFFECTOR_OPEN_POSE_NAME: name of pose target for opening the gripper
APPROACH_DISTANCE: standoff distance in the gripper Z+ axis to move to before grasping and after releasing the object
GRASPABLE_OBJECT: a moveit_studio_vision_msgs GraspableObject containing the 3 following subframes wrt the object's Pose:
- SUBFRAMES:
  - GRASP_POSE: the pose to grasp at
TRANSLATION_DISTANCE: double. Distance to translate along axis (meters)
ROTATION_DISTANCE: double. Distance to rotate along axis (degrees)
USE_CIRCULAR_ARC: boolean. If true, move in circular arc centered at the screw origin; else use a linear path.

High-level sequence of steps: 1) Get the current state 2) Move to the approach pose 3) Allow collisions 4) Move to the grasp pose 5) Close Gripper 6) Perform affordance move 7) Open Gripper 8) Withdraw/retreat from the grasp 9) Forbid collisions

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
translation_distance	Input	double
rotation_distance	Input	double
use_circular_arc	Input	bool

Constructor & Destructor Documentation

◆ SetupMTCGraspThenMoveAlongArcPull()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

Close Hand

Perform the affordance motion (move along arc)

Open Hand

Retreat from Grasp

Forbid Collision

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

Public Member Functions

Static Public Member Functions