.. _functionality:

Functionality
=============

Grasplan offers a wrapper around the MoveIt pick n place pipeline to use the grasps generated during grasp planning.

To learn more about the MoveIt pick n place pipeline, please refer to the
`MoveIt pick n place pipeline documentation <https://ros-planning.github.io/moveit_tutorials/doc/pick_place/pick_place_tutorial.html>`_.

Picking an object
-----------------

`Grasplan Parameters <https://github.com/DFKI-NI/mobipick/tree/noetic/mobipick_pick_n_place/config/grasplan>`_
were carefully configured for the Mobipick robot to grasp objects.

.. figure:: images/grasps/multimeter.png
    :width: 60%
    :alt: multimeter
    :align: center

    Pre-recorded grasp pose for multimeter.

Placing an object
-----------------

Grasplan provides with sampling of free space poses for placing an object. The poses are sampled using a random uniform distribution
in the x, y axis. The orientation is sampled only to vary the yaw. The current approach is to iterate over the sampled poses and
execute the first one with a valid plan. Grasplan will generate few samples in the first try and then increase the number of samples
in the next try if the previous try failed.

.. figure:: images/other/place_in_cluttered_table.png
    :width: 80%
    :alt: place
    :align: center

    Placing an object in a cluttered table.