Generated states

All the generated states corresponding to external method integrated to GRIP have the same interface. Whether it is a high level method (e.g. grasping algorithm), motion planner, or even controller, the generated state allows you to configure the content of the service/action you have interfaced to the framework.

Outcomes

This state has at least two outcomes: failure (red socket) and at least one outcome output by the action/service server. The number of outcomes depends then on how many different outcomes your server can return. The outcome failure is returned when the action/service server cannot be reached or when the configuration of the state is not correct.

How to configure

Once dropped in the task editor, you should see four parameters appear in the state:

  • input: Input value you want to set the input field of your server request. For more information, see here. If you want to set a string as an input, please write the content of the string between double quotes. Otherwise, the value of this field will be either looked for in the userdata or a manager.

  • input_type: Name of the manager from which the input should be retrieved. Please use the values available in the dropdowm menu. If left empty, the input will be looked into the userdata.

  • output: Name to give to the object returned by the server.

  • output_type: Name of the manager to which the output of the server should be send. Please use the values available in the dropdowm menu. If left empty stores the output object in the userdata. If output is also empty does not store the output object.

Note

If you want to have a list as an input of your service or action, you can set input as [1,2,3] or [a, b].
If you want the input of your service to be the string close, then the slot input must be set to "close". If you type close, a variable with this name will be looked for in the userdata.

Example of use

You can find a concrete example of how to use this state, here.