objId : name of the object to be picked
planGroup : arm name to be used (left_arm, right_arm). If none is specified, the arm closer to the object is chose
1: Success
-1: Planning of the task failed
-4: Update of the world failed (no transform between map and base_footprint)
-5: Update of the world failed (failed to get meshes from ontologenius)
-6: Update of the world failed (failed to get poses from underworld service)
cost: return the cost of the planified task
armUsed: return the arm name (left_arm, right_arm) that is used in the task.
objId: name of the object to be placed (optional)
boxId: name of the box in which to place the object
planGroup : arm name to be used (left_arm, right_arm).
1: Success
-1: Planning of the task failed
-4: Update of the world failed (no transform between map and base_footprint)
-5: Update of the world failed (failed to get meshes from ontologenius)
-6: Update of the world failed (failed to get poses from underworld service)
cost: return the cost of the planified task
armUsed: return the arm name (left_arm, right_arm) that is used in the task (not useful for this task)
pose: a specific pose (PoseStamped ros type) to move the arm to. Mutually exclusive with predefined_pose_id.
predefined_pose_id: a predefined pose id (left_arm_home, etc.). Mutually exclusive with pose.
planGroup : arm name to be used (left_arm, right_arm).
1: Success
-1: Planning of the task failed
-4: Update of the world failed (no transform between map and base_footprint)
-5: Update of the world failed (failed to get meshes from ontologenius)
-6: Update of the world failed (failed to get poses from underworld service)
cost: return the cost of the planified task
armUsed: return the arm name (left_arm, right_arm) that is used in the task. (not useful for this task)
objId: name of the object to be dropped (optional)
planGroup : arm to be used for the drop
1: Success
-1: Planning of the task failed
-4: Update of the world failed (no transform between map and base_footprint)
-5: Update of the world failed (failed to get meshes from ontologenius)
-6: Update of the world failed (failed to get poses from underworld service)
cost: return the cost of the planified task
armUsed: return the arm name (left_arm, right_arm) that is used in the task. (not useful for this task)
A feedback containing a progress level as a number going from 0 to 100(%) to give info on the planning status.
No goal. Last planned task will be executed.
1: Success
-2: Execution of the task failed
-3: Last planned task have no solutions
A feedback is returned during the execution process as an increasing number to show that the executing is still happening.