pymoveit_mtc.stages.Pick¶

class Pick(self: pymoveit_mtc.stages.Pick, grasp_generator: pymoveit_mtc.core.Stage, name: str = 'pick')¶

Bases: SerialContainer

The Pick stage is a specialization of the PickPlaceBase class, which wraps the pipeline to pick or place an object with a given end effector.

Picking consist of the following sub stages:

Linearly approaching the object along an approach direction/twist “grasp” end effector posture

Attach the object

Lift along a given direction/twist

The end effector postures corresponding to pre-grasp and grasp as well as the end effector’s cartesian pose needs to be provided by an external grasp stage.

Take a look at the Pick and Place Tutorial for an in-depth look, as well as the How-To Guide for a minimal implementation of a task hierarchy that makes use of the Pick stage.

Methods

`add`	Insert a stage at the end of the current children list
`clear`	Remove all stages from the container
`init`	Initialize the stage once before planning.
`insert`	Insert a stage before the given index into the children list
`remove`	Overloaded function.
`reset`	Reset the Stage.
`setApproachMotion`	The approaching motion towards the grasping state is represented by a twist message.
`setCostTerm`	Overloaded function.
`setLiftMotion`	Overloaded function.

Attributes

`eef`	The End effector name
`eef_frame`	Name of the end effector frame
`eef_group`	Joint model group of the end effector
`eef_parent_group`	Joint model group of the eef's parent
`failures`	Failed Solutions of the stage (read-only)
`forwarded_properties`	set of properties forwarded from input to output InterfaceState
`marker_ns`	Namespace for any markers that are associated to the stage
`name`	name of the stage displayed e.g.
`object`	Name of object to pick
`properties`	PropertyMap of the stage (read-only)
`solutions`	Successful Solutions of the stage (read-only)
`timeout`	Maximally allowed time [s] per computation step

class PropertyInitializerSource(self: pymoveit_mtc.core.Stage.PropertyInitializerSource, value: int)¶

Bases: pybind11_object

OR-combinable flags defining a source to initialize a specific property from. Used in pymoveit_mtc.core.PropertyMap configureInitFrom().

Members:

PARENT : Inherit properties from parent stage

INTERFACE : Inherit properties from the input InterfaceState

property name¶

__getitem__(*args, **kwargs)¶

Overloaded function.

__getitem__(self: pymoveit_mtc.core.ContainerBase, arg0: str) -> pymoveit_mtc.core.Stage
__getitem__(self: pymoveit_mtc.core.ContainerBase, arg0: int) -> pymoveit_mtc.core.Stage

__iter__(self: pymoveit_mtc.core.ContainerBase) → Iterator[pymoveit_mtc.core.Stage]¶

__len__(self: pymoveit_mtc.core.ContainerBase) → int¶

add(self: pymoveit_mtc.core.ContainerBase, *args) → None¶: Insert a stage at the end of the current children list

clear(self: pymoveit_mtc.core.ContainerBase) → None¶: Remove all stages from the container

property eef¶

The End effector name

Type:: str

property eef_frame¶

Name of the end effector frame

Type:: str

property eef_group¶

Joint model group of the end effector

Type:: str

property eef_parent_group¶

Joint model group of the eef’s parent

Type:: str

property failures¶

Failed Solutions of the stage (read-only)

Type:: Solutions

property forwarded_properties¶

set of properties forwarded from input to output InterfaceState

Type:: list

init(self: pymoveit_mtc.core.Stage, robot_model: moveit::core::RobotModel) → None¶: Initialize the stage once before planning. Will setup properties configured for initialization from parent.

insert(self: pymoveit_mtc.core.ContainerBase, stage: pymoveit_mtc.core.Stage, before: int = -1) → None¶: Insert a stage before the given index into the children list

property marker_ns¶

Namespace for any markers that are associated to the stage

Type:: str

property name¶

name of the stage displayed e.g. in rviz

Type:: str

property object¶

Name of object to pick

Type:: str

property properties¶

PropertyMap of the stage (read-only)

Type:: PropertyMap

remove(*args, **kwargs)¶

Overloaded function.

remove(self: pymoveit_mtc.core.ContainerBase, pos: int) -> pymoveit_mtc.core.Stage

Remove child stage by index

remove(self: pymoveit_mtc.core.ContainerBase, child: pymoveit_mtc.core.Stage) -> pymoveit_mtc.core.Stage

Remove child stage by instance

reset(self: pymoveit_mtc.core.Stage) → None¶: Reset the Stage. Clears all solutions, interfaces and inherited properties

setApproachMotion(self: pymoveit_mtc.stages.Pick, motion: geometry_msgs::TwistStamped_<std::allocator<void> >, min_distance: float, max_distance: float) → None¶: The approaching motion towards the grasping state is represented by a twist message. Additionally specify the minimum and maximum allowed distances to travel.

setCostTerm(*args, **kwargs)¶

Overloaded function.

setCostTerm(self: pymoveit_mtc.core.Stage, arg0: pymoveit_mtc.core.CostTerm) -> None

Specify a CostTerm for calculation of stage costs

setCostTerm(self: pymoveit_mtc.core.Stage, arg0: Callable[[pymoveit_mtc.core.SubTrajectory, str], float]) -> None

Specify a function to calculate trajectory costs

setCostTerm(self: pymoveit_mtc.core.Stage, arg0: Callable[[pymoveit_mtc.core.SubTrajectory], float]) -> None

Specify a function to calculate trajectory costs

setLiftMotion(*args, **kwargs)¶

Overloaded function.

setLiftMotion(self: pymoveit_mtc.stages.Pick, motion: geometry_msgs::TwistStamped_<std::allocator<void> >, min_distance: float, max_distance: float) -> None

The lifting motion away from the grasping state is represented by a twist message. Additionally specify the minimum and maximum allowed distances to travel.
setLiftMotion(self: pymoveit_mtc.stages.Pick, place: dict[str, float]) -> None

The lifting motion away from the grasping state is represented by its destination as joint-value pairs

property solutions¶: Successful Solutions of the stage (read-only)

property timeout¶

Maximally allowed time [s] per computation step

Type:: float