parameters: (self, group, target, grasps)
return_statement: return goal
docstring: Create a MoveIt! PickupGoal
docstring_summary: Create a MoveIt! PickupGoal
docstring_tokens: Create a MoveIt! PickupGoal
function: def _create_pickup_goal(self, group, target, grasps):
          """
          Create a MoveIt! PickupGoal
          """
  
          # Create goal:
          goal = PickupGoal()
  
          goal.group_name  = group
          goal.target_name = target
  
          goal.possible_grasps.extend(grasps)
  
          goal.allowed_touch_objects.append(target)
  
          goal.support_surface_name = self._table_object_name
  
          # Configure goal planning options:
          goal.allowed_planning_time = 5.0
  
          goal.planning_options.planning_scene_diff.is_diff = True
          goal.planning_options.planning_scene_diff.robot_state.is_diff = True
          goal.planning_options.plan_only = False
          goal.planning_options.replan = True
          goal.planning_options.replan_attempts = 10
  
          return goal
function_tokens: def _create_pickup_goal ( self , group , target , grasps ) : # Create goal: goal = PickupGoal ( ) goal . group_name = group goal . target_name = target goal . possible_grasps . extend ( grasps ) goal . allowed_touch_objects . append ( target ) goal . support_surface_name = self . _table_object_name # Configure goal planning options: goal . allowed_planning_time = 5.0 goal . planning_options . planning_scene_diff . is_diff = True goal . planning_options . planning_scene_diff . robot_state . is_diff = True goal . planning_options . plan_only = False goal . planning_options . replan = True goal . planning_options . replan_attempts = 10 return goal