Place

This is a ROS action definition.

Source

# An action for placing an object

# which group to be used to plan for grasping
string group_name

# the name of the attached object to place
string attached_object_name

# a list of possible transformations for placing the object
PlaceLocation[] place_locations

# if the user prefers setting the eef pose (same as in pick) rather than
# the location of the object, this flag should be set to true
bool place_eef

# the name that the support surface (e.g. table) has in the collision world
# 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-place to place and during retreat. Collisions when moving to the
# pre-place location are still not allowed even if this is set to true.
bool allow_gripper_support_collision

# 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 placing
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 result of the place 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 successful place location, if any
PlaceLocation place_location

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