I am using a turtlebot with an attached arm. In moveit I can move the arm nicely.
I am currently writing a python script (which is similar to the [pick_and_place.py](https://github.com/corot/turtlebot_arm/blob/indigo-devel/turtlebot_arm_moveit_demos/bin/pick_and_place.py) demo.
Placing a table and a box object in the world is very easy. Picking it up isn't..
Calling `self.arm.pick(self.box_id)` is only resulting in `[ WARN] [1475274220.198944028]: Fail: ABORTED: No motion plan found. No execution attempted.` The pick and place demo is calling the method by passing a grasp list (even though the parameter is optional). The way the grasp list is generated seems to be extremely complicated and unreadable.
Why do I need to pass a grasp list? So far what I could see from moveit is that it is able to move the arm very nicely & precise, why isn't it able to move the arm to the object? I understand that there are multiple possibilities for picking up the object. Simply a valid solution would be enough for me (no collision). The behavior for moving the arm itself is just the same: there are multiple possibilities, moveit is just taking one; why isn't it working like that for picking an object?
Thank you in advance
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