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

Public Member Functions
def	__init__
	Create a grasp manager, connect actions.
def	get_pick_action
def	get_place_action
def	pick_with_retry
	Common usage pattern TODO document.
def	pickup
	Plan and grasp something.
def	place
	Plan and grasp something.
def	place_with_retry
	Common usage pattern TODO document.
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

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.

def moveit_python.pick_place_interface.PickPlaceInterface.get_pick_action ( self )

Definition at line 66 of file pick_place_interface.py.

def moveit_python.pick_place_interface.PickPlaceInterface.get_place_action ( self )

Definition at line 69 of file pick_place_interface.py.

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 250 of file pick_place_interface.py.

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

Definition at line 77 of file pick_place_interface.py.

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.