From 370465aaf44c388dfcbd5f4b7b118b3a0c1d40be Mon Sep 17 00:00:00 2001 From: Alex Mitrevski Date: Sun, 1 Nov 2020 15:58:14 +0100 Subject: [PATCH] [place_action/clients] Set 'release_on_impact' in the place and throw clients The field is set to true and false respectively (we want to detect impact while placing, but not while throwing) --- .../mdr_place_action/ros/scripts/place_client | 4 ++++ .../mdr_place_action/ros/scripts/throw_client | 4 ++++ 2 files changed, 8 insertions(+) diff --git a/mdr_planning/mdr_actions/mdr_manipulation_actions/mdr_place_action/ros/scripts/place_client b/mdr_planning/mdr_actions/mdr_manipulation_actions/mdr_place_action/ros/scripts/place_client index d62bfd2ed..5fc10d6d0 100755 --- a/mdr_planning/mdr_actions/mdr_manipulation_actions/mdr_place_action/ros/scripts/place_client +++ b/mdr_planning/mdr_actions/mdr_manipulation_actions/mdr_place_action/ros/scripts/place_client @@ -75,6 +75,10 @@ class PlaceClient(ActionClientBase): self.robot_name = param.value goal.pose = self.get_placing_pose() + + # we want to place the object by detecting implact with the placing surface + goal.release_on_impact = True + return goal def get_placing_pose(self): diff --git a/mdr_planning/mdr_actions/mdr_manipulation_actions/mdr_place_action/ros/scripts/throw_client b/mdr_planning/mdr_actions/mdr_manipulation_actions/mdr_place_action/ros/scripts/throw_client index 21ea56e9c..58d5d6ccf 100755 --- a/mdr_planning/mdr_actions/mdr_manipulation_actions/mdr_place_action/ros/scripts/throw_client +++ b/mdr_planning/mdr_actions/mdr_manipulation_actions/mdr_place_action/ros/scripts/throw_client @@ -72,6 +72,10 @@ class ThrowClient(ActionClientBase): self.robot_name = param.value goal.pose = self.get_throwing_pose() + + # we don't want to wait for impact when throwing the object + goal.release_on_impact = False + return goal def get_throwing_pose(self):