Pickup

This is a ROS action definition.

Source

# An action for picking up an object

# The name of the object to pick up (as known in the planning scene)
string target_name

# which group should be used to plan for pickup
string group_name

# which end-effector to be used for pickup (ideally descending from the group above)
string end_effector

# a list of possible grasps to be used. At least one grasp must be filled in
Grasp[] possible_grasps

# the name that the support surface (e.g. table) has in the collision map
# can be left empty if no name is available
string support_surface_name

# whether collisions between the gripper and the support surface should be acceptable
# during move from pre-grasp to grasp and during lift. Collisions when moving to the
# pre-grasp location are still not allowed even if this is set to true.
bool allow_gripper_support_collision

# The names of the links the object to be attached is allowed to touch;
# If this is left empty, it defaults to the links in the used end-effector
string[] attached_object_touch_links

# Optionally notify the pick action that it should approach the object further,
# as much as possible (this minimizing the distance to the object before the grasp)
# along the approach direction; Note: this option changes the grasping poses
# supplied in possible_grasps[] such that they are closer to the object when possible.
bool minimize_object_distance

# Optional constraints to be imposed on every point in the motion plan
Constraints path_constraints

# The name of the motion planner to use. If no name is specified,
# a default motion planner will be used
string planner_id

# an optional list of obstacles that we have semantic information about
# and that can be touched/pushed/moved in the course of grasping
string[] allowed_touch_objects

# The maximum amount of time the motion planner is allowed to plan for
float64 allowed_planning_time

# Planning options
PlanningOptions planning_options

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# The overall result of the pickup attempt
MoveItErrorCodes error_code

# The full starting state of the robot at the start of the trajectory
RobotState trajectory_start

# The trajectory that moved group produced for execution
RobotTrajectory[] trajectory_stages

string[] trajectory_descriptions

# The performed grasp, if attempt was successful
Grasp grasp

# The amount of time in seconds it took to complete the plan
float64 planning_time
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# The internal state that the pickup action currently is in
string state