moveit_python.pick_place_interface.PickPlaceInterface Class Reference

Simple interface to pick and place actions. More...

Inheritance diagram for moveit_python.pick_place_interface.PickPlaceInterface:

Public Member Functions
def	__init__ (self, group="arm", ee_group="gripper", plan_only=False, verbose=False)
	Create a grasp manager, connect actions. More...
def	get_pick_action (self)
def	get_place_action (self)
def	pick_with_retry (self, name, grasps, retries=5, scene=None, **kwargs)
	Common usage pattern TODO document. More...
def	pickup (self, name, grasps, wait=True, **kwargs)
	Plan and grasp something. More...
def	place (self, name, locations, wait=True, **kwargs)
	Plan and grasp something. More...
def	place_with_retry (self, name, locations, retries=5, scene=None, **kwargs)
	Common usage pattern TODO document. More...

Public Attributes
	allowed_planning_time
	planner_id

Private Attributes
	_effector
	_group
	_pick_action
	_place_action
	_plan_only
	_verbose

Detailed Description

Simple interface to pick and place actions.

Definition at line 35 of file pick_place_interface.py.

Constructor & Destructor Documentation

__init__()

def moveit_python.pick_place_interface.PickPlaceInterface.__init__	(		self,
			group = "arm",
			ee_group = "gripper",
			plan_only = False,
			verbose = False
	)

Create a grasp manager, connect actions.

Parameters

group	Name of arm planning group
ee_group	Name of end effector planning group
plan_only	Should we only plan, but not execute?

Definition at line 41 of file pick_place_interface.py.

Member Function Documentation

get_pick_action()

def moveit_python.pick_place_interface.PickPlaceInterface.get_pick_action

(

self

)

Definition at line 66 of file pick_place_interface.py.

get_place_action()

def moveit_python.pick_place_interface.PickPlaceInterface.get_place_action

(

self

)

Definition at line 69 of file pick_place_interface.py.

pick_with_retry()

def moveit_python.pick_place_interface.PickPlaceInterface.pick_with_retry	(		self,
			name,
			grasps,
			retries = 5,
			scene = None,
		**	kwargs
	)

Common usage pattern TODO document.

Definition at line 251 of file pick_place_interface.py.

pickup()

def moveit_python.pick_place_interface.PickPlaceInterface.pickup	(		self,
			name,
			grasps,
			wait = True,
		**	kwargs
	)

Plan and grasp something.

Parameters

name	Name of the object to grasp
grasps	Grasps to try (moveit_msgs/Grasp)
support_name	Name of the support surface

Returns

moveit_msgs/PickupResult

Definition at line 77 of file pick_place_interface.py.

place()

def moveit_python.pick_place_interface.PickPlaceInterface.place	(		self,
			name,
			locations,
			wait = True,
		**	kwargs
	)

Plan and grasp something.

Parameters

name	Name of the object to grasp
grasps	Grasps to try (moveit_msgs/Grasp)
support_name	Name of the support surface
goal_is_eef	Set to true if the place goal is for the end effector frame, default is object frame.

Returns

moveit_msgs/PlaceResult

Definition at line 169 of file pick_place_interface.py.

place_with_retry()

def moveit_python.pick_place_interface.PickPlaceInterface.place_with_retry	(		self,
			name,
			locations,
			retries = 5,
			scene = None,
		**	kwargs
	)

Common usage pattern TODO document.

Definition at line 284 of file pick_place_interface.py.

Member Data Documentation

_effector

moveit_python.pick_place_interface.PickPlaceInterface._effector

private

Definition at line 44 of file pick_place_interface.py.

_group

moveit_python.pick_place_interface.PickPlaceInterface._group

private

Definition at line 43 of file pick_place_interface.py.

_pick_action

moveit_python.pick_place_interface.PickPlaceInterface._pick_action

private

Definition at line 47 of file pick_place_interface.py.

_place_action

moveit_python.pick_place_interface.PickPlaceInterface._place_action

private

Definition at line 53 of file pick_place_interface.py.

_plan_only

moveit_python.pick_place_interface.PickPlaceInterface._plan_only

private

Definition at line 58 of file pick_place_interface.py.

_verbose

moveit_python.pick_place_interface.PickPlaceInterface._verbose

private

Definition at line 42 of file pick_place_interface.py.

allowed_planning_time

moveit_python.pick_place_interface.PickPlaceInterface.allowed_planning_time

Definition at line 60 of file pick_place_interface.py.

planner_id

moveit_python.pick_place_interface.PickPlaceInterface.planner_id

Definition at line 59 of file pick_place_interface.py.

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

• pick_place_interface.py