No equivalent to C++ group.setSupportSurfaceName() in Python API

[pirobot]

I have pick and place working fairly well using the Python API. However, occasionally (but not all the time) the place operation fails because of a collision detected between the object being moved and the support surface (a table in my case). The specific messages are:

[ INFO] [1394932684.299889807]: IK failed
[ INFO] [1394932684.302000435]: Found a contact between 'table' (type 'Object') and 'target' (type 'Robot attached'), which constitutes a collision. Contact information is not stored.
[ INFO] [1394932684.302107838]: Collision checking is considered complete (collision was found and 0 contacts are stored)

I've checked fairly carefully through the Python API docs and the source code and there doesn't appear to be the equivalent of the C++ function group.setSupportSurfaceName() or the equivalent of the Python function grasp.allowed_touch_objects() that can be used with the pick operation. Did I miss something or is there another way to tell MoveIt that the object being moved is allowed to touch the support surface?

[e1000i]

I recently added some functions to the python wrap for moveit. Look at https://github.com/ros-planning/moveit_commander/issues/18 . I found it was not to complicated to wrap existent functions in c++ move_group to make them accessible to python. I'm also tryining to play with the pick and place stuff in python. Yet not make the pick pipeline to work. I can take a look an try to make this function accessible to python. In fact, was in my plans already.

[pirobot]

That would be great!

[pirobot]

Here's my attempt to do it myself: https://github.com/ros-planning/moveit_commander/pull/21

[sachinchitta]

Was merged in #21