moveit_studio::behaviors::SetupMTCAffordanceTemplate Class Referencefinal
A MTC-based behavior to execute motion based on an affordance template (AT). More...
#include <setup_mtc_affordance_template.hpp>
Inheritance diagram for moveit_studio::behaviors::SetupMTCAffordanceTemplate:
Collaboration diagram for moveit_studio::behaviors::SetupMTCAffordanceTemplate:
Public Member Functions | |
| SetupMTCAffordanceTemplate (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
| BT::NodeStatus | tick () override |
Static Public Member Functions | |
| static BT::PortsList | providedPorts () |
Detailed Description
A MTC-based behavior to execute motion based on an affordance template (AT).
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
- GRASP_POSE: the pose to grasp at (defined w.r.t. the root_frame)
- SCREW_ORIGIN_POSE: pose. Origin of screw axis (should be in affordance or planning frame)
- SCREW_AXIS_POSE: pose. Second pose needed to define axis (should be in affordance or planning frame)
- 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> |
| grasp_pose | Input | geometry_msgs::msg::PoseStamped |
| screw_origin_pose | Input | geometry_msgs::msg::PoseStamped |
| screw_axis_pose | Input | geometry_msgs::msg::PoseStamped |
| translation_distance | Input | double |
| rotation_distance | Input | double |
| use_circular_arc | Input | bool |
Constructor & Destructor Documentation
◆ SetupMTCAffordanceTemplate()
| moveit_studio::behaviors::SetupMTCAffordanceTemplate::SetupMTCAffordanceTemplate | ( | const std::string & | name, |
| const BT::NodeConfiguration & | config, | ||
| const std::shared_ptr< BehaviorContext > & | shared_resources | ||
| ) |
Member Function Documentation
◆ providedPorts()
|
static |
◆ tick()
|
override |
Move To Selected Point
Open Hand
Allow Collision
Approach Grasp
Generate Pose at Grasp Point
Close Hand
Perform the affordance motion
Open Hand
Retreat from Grasp
Forbid Collision
The documentation for this class was generated from the following files:
