Given an existing MTC Task object and a target grasp pose, appends MTC stages to describe a motion plan to approach, grasp, and lift an object at that pose. More...

#include <setup_mtc_place_from_pose.hpp>

Inheritance diagram for moveit_studio::behaviors::SetupMtcPlaceFromPose:

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Collaboration diagram for moveit_studio::behaviors::SetupMtcPlaceFromPose:

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Public Member Functions
	SetupMtcPlaceFromPose (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. More...

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

Given an existing MTC Task object and a target grasp pose, appends MTC stages to describe a motion plan to approach, grasp, and lift an object at that pose.

Data Port Name	Port Type	Object Type
task	Bidirectional	std::shared_ptr<moveit::task_constructor::Task>
grasp_pose	Input	geometry_msgs::msg::PoseStamped

Constructor & Destructor Documentation

◆ SetupMtcPlaceFromPose()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

Allow Collision since the hand holds a collision object

Move To Pre-Place Pose

Approach Place Pose

Generate the Inverse Kinematics (IK) solutions to move to the pose specified in the "place_pose" input port. This will generate up to kMaxIKSolutions IK solution candidates to sample from, unless the timeout specified in kIKTimeoutSeconds is reached first. Collision checking is ignored for IK pose generation. Solutions that result in forbidden collisions will be eliminated by failures in the stages before and after this one.

Allow Collision This stage allows collisions between the gripper and object for stages after this one (during the Close Hand, Lift, and Retreat stages).

Open Hand

Forbid Collision This stage forbids collisions between the gripper and the object for subsequent stages.

Retreat

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

Public Member Functions

Static Public Member Functions