Definition Setup

1. Parts of a pick-and-place routine
2. Example

Pick-and-place routines are simple opterations with a few key parts which are built into a standard motion trajectory.

Parts of a pick-and-place routine

A pick and place task has 5 main components:

1. Set up move
2. Grasp
3. Manipulate
4. Release
5. Move to end

Settings

Settings consist of several options related to hardware and action configuration.

• type (str): The type of pick and place action.
  • Options are single or grid.
• use_arm (bool): Decide whether or not the arm is used in this trajectory
• use_hand (bool): Decide whether or not the hand is used in this trajectory
• reset_object (bool): Reset the object after the pick-and-place task is complete. Essentially just a reversal of the resulting trajectory

Example

settings:
  boomerang: true
  reset_object: true
  type: grid # options: single, grid
  use_arm: True
  use_hand: True

Arm

Define specific important poses, how the object is picked up, and define a grid over which to make permutations

• orientation_type (str): How orientations are defined in poses. All orientations in the config file must be defined in the same units.
  • Options are quaternions, radians, or degrees.
• initial_pose (dict): The pose to start at
• grasp_pose (dict or list): The pose or list of poses to use during the grasp portion of the task
  • If a single pose is provided, the arm moves stright from the initial pose to the grasping pose.
• release_pose (dict or list): The pose or list of poses where the object is released.
• final_pose (dict): The ending pose.
• pickup:
  • type (str): The type of pickup action to perform. Options are square, triangle, and to_pose.
  • args (dict): Arguments to give to the pickup builder. These depend on the type (as described later).
• grid:
  • num_pts (list): List of number of grid points to make in all cartesian dimensions.
  • dims (list): Dimensions of the grid of grasping poses in all cartesian dimensions.
  • release_dims (list): Dimensions of the grid of release poses in all cartesian dimensions.
  • affects_release_pose (bool): Choose if the grid should affect the release pose.

Optional addons:

• manip_pose_before (list): A list of poses to execute between the grasp and manipulate steps
• manip_pose_after (list): A list of poses to execute between the manipulate and release steps
• manip_sequence (list): Add a long list of poses to the manipulate step.
  • type (str): The type of sequence. Currently trajectory is the only option.
  • args: Arguments to give to the manipu sequence builder
    • trajectory (str): Filename where the trajectory is stored.
    • sequence (list): Sequence of moves (as defined in the trajectory file).

Example

arm:
  orientation_type: 'degrees' # options: 'quaterions', 'radians, 'degrees'

  initial_pose:
    position: [0.55, 0.30, 0.20]
    orientation: [0,90,0]

  grasp_pose:
    - position: [0.55, 0.30, 0.20]
      orientation: [0,90,0]
    - position: [0.55, 0.30, 0.065]
      orientation: [0,90,0]

  ... # Define all other poses similarly to this.


  pickup:
    type: to_pose # square, triangle, to_pose
    args:
      before: 'manip_pose_before'
      after: 'manip_pose_after'

  manip_sequence:
    type: 'trajectory'
    args:
      trajectory: 'manip/armando_simple.yaml'
      sequence:   [path0, path1, path2, path3, path4, path5, path6, path7, path8, path9, path10, path11, path12, path13]

  grid:
    num_pts: [1,1,1] # Number of points on each side [number] in (x, y, z) order
    dims: [0,0,0]    # Dimension of each grid side [meters] in (x, y, z) order
    release_dims: [0,0,0]
    affects_release_pose: True

Hand

Define specific hand pressures and skills

• num_channels (int): Number of control channels in the hand
• max_pressure (float): Maximum pressure the hand should be commanded to
• min_pressure (float): Minimum pressure the hand should be commanded to
• idle_pressure (list): A vector of pressures that the hand should be set to when idle

Grasp options

• grasp_sequence (dict): Define the grasping sequence
  • type (str): The type of grasping sequence. Options are trajectory or skill.
  • sequence (list): The pressure trajectory or list of skills to use.
• grasp_sequence, (legacy definition) (list): A pressure trajectory to use. Just use the list directly.

Manipulation options

• manip_sequence (dict): Define the in-hand manipulation sequence
  • type (str): The type of manipulation sequence. Options are trajectory or skill.
  • sequence (list): The pressure trajectory or list of skills to use.
• manip_sequence, (legacy definition) (list): A pressure trajectory to use. Just use the list directly.

manip_sequence may be ommited if not needed

Release options

• release_sequence (dict): Define the release sequence
  • type (str): The type of release sequence. Options are trajectory or skill.
  • sequence (list): The pressure trajectory or list of skills to use.
• release_sequence, (legacy definition) (list): A pressure trajectory to use. Just use the list directly.

Example

Pick and place setup files should be located in “traj_setup”.