def __init__(self): # Initialize publishers # Pull all params off param server self.grasp_approach_tran_frame = rospy.get_param( "grasp_approach_tran_frame") self.world_frame = rospy.get_param("world_frame") self.arm_move_group_name = rospy.get_param("arm_move_group_name") self.gripper_move_group_name = rospy.get_param( "gripper_move_group_name") self.analyzer_planner_id = rospy.get_param("analyzer_planner_id") self.executor_planner_id = rospy.get_param("executor_planner_id") self.allowed_analyzing_time = rospy.get_param("allowed_analyzing_time") self.allowed_execution_time = rospy.get_param("allowed_execution_time") # Initialize ros service interfaces self.grasping_controller = curpp.MoveitPickPlaceInterface( arm_name=self.arm_move_group_name, gripper_name=self.gripper_move_group_name, grasp_approach_tran_frame=self.grasp_approach_tran_frame, analyzer_planner_id=self.analyzer_planner_id, execution_planner_id=self.executor_planner_id, allowed_analyzing_time=self.allowed_analyzing_time, allowed_execution_time=self.allowed_execution_time) self.scene = moveit_commander.PlanningSceneInterface() self.world_manager_client = world_manager.world_manager_client.WorldManagerClient( ) self.tf_listener = tf.TransformListener()
import curpp import rospy import grasit_interface.msg import geometry_msgs.msg import tf grasping_controller = curpp.MoveitPickPlaceInterface( arm_name="arm", gripper_name="gripper", grasp_approach_tran_frame="/approach_tran", analyzer_planner_id='[PRMkConfigDefault]', execution_planner_id='[BiRRTkConfigDefault]', allowed_analyzing_time=2, allowed_execution_time=8) object_name = "block0" graspit_grasp = graspit_interface.msg.Grasp() tf_listener = tf.TransformListener() pre_grasp_approach_direction = geometry_msgs.msg.Vector3Stamped() pre_grasp_approach_direction.header.frame_id = rospy.get_param( "pre_grasp_approach_direction_frame_id") pre_grasp_approach_direction.vector.x = rospy.get_param( "pre_grasp_approach_direction_x") pre_grasp_approach_direction.vector.y = rospy.get_param( "pre_grasp_approach_direction_y") pre_grasp_approach_direction.vector.z = rospy.get_param( "pre_grasp_approach_direction_z") post_grasp_retreat_direction = geometry_msgs.msg.Vector3Stamped() post_grasp_retreat_direction.header.frame_id = rospy.get_param(