robot_smach_states.manipulation.place

Attributes

`Put`	Drive the robot back a little and move the designated arm to place the designated item at the designated pose
`Place`	Drive the robot to be close to the designated place_pose and move the designated arm to place the designated

class robot_smach_states.manipulation.place.Put(robot, item_to_place, placement_pose, arm)

Bases: smach.State

Drive the robot back a little and move the designated arm to place the designated item at the designated pose

Parameters:

robot (robot_skills.robot.Robot) – Robot to execute state with
item_to_place (robot_smach_states.util.designators.core.Designator[ed.entity.Entity]) – Designator that resolves to the entity to place. e.g EntityByIdDesignator
placement_pose (robot_smach_states.util.designators.core.Designator[pykdl_ros.FrameStamped]) – Designator that resolves to the pose to place at. E.g. an EmptySpotDesignator
arm (locked) – Locked arm designator -> arm to place with, so Arm that holds entity_to_place, e.g. via ArmHoldingEntityDesignator

class robot_smach_states.manipulation.place.Place(robot, item_to_place, place_pose, arm, place_volume=None)

Bases: smach.StateMachine

Drive the robot to be close to the designated place_pose and move the designated arm to place the designated item there

Parameters:

robot (robot_skills.robot.Robot) – Robot to execute state with
item_to_place (robot_smach_states.util.designators.core.Designator[ed.entity.Entity]) – Designator that resolves to the entity to place. e.g EntityByIdDesignator
place_pose (Union[robot_smach_states.util.designators.core.Designator[str], robot_smach_states.util.designators.core.Designator[ed.entity.Entity], str]) – The place pose can be one of three things: 1: Designator that resolves to the pose to place at. E.g. an EmptySpotDesignator 2: EdEntityDesignator resolving to an object on which the robot should place something 3: A string identifying an object on which the robot should place something
arm (robot_smach_states.util.designators.core.Designator[robot_skills.arm.arms.PublicArm]) – Designator -> arm to place with, so Arm that holds entity_to_place, e.g. via ArmHoldingEntityDesignator
place_volume (Optional[str]) – (optional) string identifying the volume where to place the object, e.g., ‘on_top_of’, ‘shelf3’