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Remove unused hand property from MTC tutorial #420

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merged 2 commits into from
Jun 6, 2022
Merged

Remove unused hand property from MTC tutorial #420

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1314068
Remove unused hand property from MTC tutorial
Jun 6, 2022
f296e0d
Merge branch 'main' into seng/remove_unused_propery
Jun 6, 2022
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8 changes: 4 additions & 4 deletions ...ce_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -670,9 +670,9 @@ This next block of code creates a ``SerialContainer``. This is a container that

{
auto grasp = std::make_unique<mtc::SerialContainer>("pick object");
task.properties().exposeTo(grasp->properties(), { "eef", "hand", "group", "ik_frame" });
task.properties().exposeTo(grasp->properties(), { "eef", "group", "ik_frame" });
grasp->properties().configureInitFrom(mtc::Stage::PARENT,
{ "eef", "hand", "group", "ik_frame" });
{ "eef", "group", "ik_frame" });



Expand Down Expand Up @@ -827,9 +827,9 @@ We also create a serial container for the place stages. This is done similarly t

{
auto place = std::make_unique<mtc::SerialContainer>("place object");
task.properties().exposeTo(place->properties(), { "eef", "hand", "group", "ik_frame" });
task.properties().exposeTo(place->properties(), { "eef", "group", "ik_frame" });
place->properties().configureInitFrom(mtc::Stage::PARENT,
{ "eef", "hand", "group", "ik_frame" });
{ "eef", "group", "ik_frame" });

This next stage generates the poses used to place the object and compute the inverse kinematics for those poses - it is somewhat similar to the ``generate grasp pose`` stage from the pick serial container. We start by creating a stage to generate the poses and inheriting the task properties. We specify the pose where we want to place the object with a ``PoseStamped`` message from ``geometry_msgs`` - in this case, we choose ``y = 0.5``. We then pass the target pose to the stage with ``setPose``. Next, we use ``setMonitoredStage`` and pass it the pointer to the ``attach object stage`` from earlier. This allows the stage to know how the object is attached. We then create a ``ComputeIK`` stage and pass it our ``GeneratePlacePose`` stage - the rest follows the same logic as above with the pick stages.

Expand Down
8 changes: 4 additions & 4 deletions doc/tutorials/pick_and_place_with_moveit_task_constructor/src/main.cpp
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Expand Up @@ -149,10 +149,10 @@ mtc::Task MTCTaskNode::createTask()
// In fact, `task` itself is a SerialContainer by default.
{
auto grasp = std::make_unique<mtc::SerialContainer>("pick object");
task.properties().exposeTo(grasp->properties(), { "eef", "hand", "group", "ik_frame" });
task.properties().exposeTo(grasp->properties(), { "eef", "group", "ik_frame" });
// clang-format off
grasp->properties().configureInitFrom(mtc::Stage::PARENT,
{ "eef", "hand", "group", "ik_frame" });
{ "eef", "group", "ik_frame" });
// clang-format on

{
Expand Down Expand Up @@ -268,10 +268,10 @@ mtc::Task MTCTaskNode::createTask()

{
auto place = std::make_unique<mtc::SerialContainer>("place object");
task.properties().exposeTo(place->properties(), { "eef", "hand", "group", "ik_frame" });
task.properties().exposeTo(place->properties(), { "eef", "group", "ik_frame" });
// clang-format off
place->properties().configureInitFrom(mtc::Stage::PARENT,
{ "eef", "hand", "group", "ik_frame" });
{ "eef", "group", "ik_frame" });
// clang-format on

/****************************************************
Expand Down