def __init__(self):
# Initialize the move_group API
moveit_commander.roscpp_initialize(sys.argv)
# Initialize the ROS node
rospy.init_node('moveit_constraints_demo', anonymous=True)
robot = RobotCommander()
# Connect to the arm move group
arm = MoveGroupCommander(GROUP_NAME_ARM)
# Initialize the move group for the right gripper
gripper = MoveGroupCommander(GROUP_NAME_GRIPPER)
# Increase the planning time since constraint planning can take a while
arm.set_planning_time(5)
# Allow replanning to increase the odds of a solution
arm.allow_replanning(True)
# Set the right arm reference frame
arm.set_pose_reference_frame(REFERENCE_FRAME)
# Allow some leeway in position(meters) and orientation (radians)
arm.set_goal_position_tolerance(0.05)
arm.set_goal_orientation_tolerance(0.1)
# Get the name of the end-effector link
end_effector_link = arm.get_end_effector_link()
# Start in the "resting" configuration stored in the SRDF file
arm.set_named_target('l_arm_init')
# Plan and execute a trajectory to the goal configuration
arm.go()
rospy.sleep(1)
# Open the gripper
gripper.set_joint_value_target(GRIPPER_NEUTRAL)
gripper.go()
rospy.sleep(1)
# Set an initial target pose with the arm up and to the right
target_pose = PoseStamped()
target_pose.header.frame_id = REFERENCE_FRAME
target_pose.pose.position.x = 0.263803774718
target_pose.pose.position.y = 0.295405791959
target_pose.pose.position.z = 0.690438884208
q = quaternion_from_euler(0, 0, -1.57079633)
target_pose.pose.orientation.x = q[0]
target_pose.pose.orientation.y = q[1]
target_pose.pose.orientation.z = q[2]
target_pose.pose.orientation.w = q[3]
# Set the start state and target pose, then plan and execute
arm.set_start_state(robot.get_current_state())
arm.set_pose_target(target_pose, end_effector_link)
arm.go()
rospy.sleep(2)
# Close the gripper
gripper.set_joint_value_target(GRIPPER_CLOSED)
gripper.go()
rospy.sleep(1)
# Store the current pose
start_pose = arm.get_current_pose(end_effector_link)
# Create a contraints list and give it a name
constraints = Constraints()
constraints.name = "Keep gripper horizontal"
# Create an orientation constraint for the right gripper
orientation_constraint = OrientationConstraint()
orientation_constraint.header = start_pose.header
orientation_constraint.link_name = arm.get_end_effector_link()
orientation_constraint.orientation.w = 1.0
orientation_constraint.absolute_x_axis_tolerance = 0.1
orientation_constraint.absolute_y_axis_tolerance = 0.1
orientation_constraint.absolute_z_axis_tolerance = 0.1
orientation_constraint.weight = 1.0
# q = quaternion_from_euler(0, 0, -1.57079633)
# orientation_constraint.orientation.x = q[0]
# orientation_constraint.orientation.y = q[1]
# orientation_constraint.orientation.z = q[2]
# orientation_constraint.orientation.w = q[3]
# Append the constraint to the list of contraints
constraints.orientation_constraints.append(orientation_constraint)
# Set the path constraints on the arm
arm.set_path_constraints(constraints)
# Set a target pose for the arm
target_pose = PoseStamped()
target_pose.header.frame_id = REFERENCE_FRAME
target_pose.pose.position.x = 0.39000848183
target_pose.pose.position.y = 0.185900663329
target_pose.pose.position.z = 0.732752341378
target_pose.pose.orientation.w = 1
# Set the start state and target pose, then plan and execute
arm.set_start_state_to_current_state()
arm.set_pose_target(target_pose, end_effector_link)
arm.go()
rospy.sleep(1)
# Clear all path constraints
arm.clear_path_constraints()
# Open the gripper
gripper.set_joint_value_target(GRIPPER_NEUTRAL)
gripper.go()
rospy.sleep(1)
# Return to the "resting" configuration stored in the SRDF file
arm.set_named_target('l_arm_init')
# Plan and execute a trajectory to the goal configuration
arm.go()
rospy.sleep(1)
# Shut down MoveIt cleanly
moveit_commander.roscpp_shutdown()
# Exit MoveIt
moveit_commander.os._exit(0)
def __init__(self):
# Initialize the move_group API
moveit_commander.roscpp_initialize(sys.argv)
# Initialize the ROS node
rospy.init_node('moveit_demo', anonymous=True)
robot = RobotCommander()
# Connect to the right_arm move group
right_arm = MoveGroupCommander(GROUP_NAME_ARM)
# Initialize the move group for the right gripper
right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER)
# Increase the planning time since constraint planning can take a while
right_arm.set_planning_time(15)
# Allow replanning to increase the odds of a solution
right_arm.allow_replanning(True)
# Set the right arm reference frame
right_arm.set_pose_reference_frame(REFERENCE_FRAME)
# Allow some leeway in position(meters) and orientation (radians)
right_arm.set_goal_position_tolerance(0.05)
right_arm.set_goal_orientation_tolerance(0.1)
# Get the name of the end-effector link
end_effector_link = right_arm.get_end_effector_link()
# Start in the "resting" configuration stored in the SRDF file
right_arm.set_named_target('right_arm_zero')
# Plan and execute a trajectory to the goal configuration
right_arm.go()
rospy.sleep(1)
# Open the gripper
right_gripper.set_joint_value_target(GRIPPER_NEUTRAL)
right_gripper.go()
rospy.sleep(1)
# Set an initial target pose with the arm up and to the right
target_pose = PoseStamped()
target_pose.header.frame_id = REFERENCE_FRAME
target_pose.pose.position.x = 0.237012590198
target_pose.pose.position.y = -0.0747191267505
target_pose.pose.position.z = 0.901578401949
target_pose.pose.orientation.w = 1.0
# Set the start state and target pose, then plan and execute
right_arm.set_start_state(robot.get_current_state())
right_arm.set_pose_target(target_pose, end_effector_link)
right_arm.go()
rospy.sleep(2)
# Close the gripper
right_gripper.set_joint_value_target(GRIPPER_CLOSED)
right_gripper.go()
rospy.sleep(1)
# Store the current pose
start_pose = right_arm.get_current_pose(end_effector_link)
# Create a contraints list and give it a name
constraints = Constraints()
constraints.name = "Keep gripper horizontal"
# Create an orientation constraint for the right gripper
orientation_constraint = OrientationConstraint()
orientation_constraint.header = start_pose.header
orientation_constraint.link_name = right_arm.get_end_effector_link()
orientation_constraint.orientation.w = 1.0
orientation_constraint.absolute_x_axis_tolerance = 0.1
orientation_constraint.absolute_y_axis_tolerance = 0.1
orientation_constraint.absolute_z_axis_tolerance = 3.14
orientation_constraint.weight = 1.0
# Append the constraint to the list of contraints
constraints.orientation_constraints.append(orientation_constraint)
# Set the path constraints on the right_arm
right_arm.set_path_constraints(constraints)
# Set a target pose for the arm
target_pose = PoseStamped()
target_pose.header.frame_id = REFERENCE_FRAME
target_pose.pose.position.x = 0.173187824708
target_pose.pose.position.y = -0.0159929871606
target_pose.pose.position.z = 0.692596608605
target_pose.pose.orientation.w = 1.0
# Set the start state and target pose, then plan and execute
right_arm.set_start_state_to_current_state()
right_arm.set_pose_target(target_pose, end_effector_link)
right_arm.go()
rospy.sleep(1)
# Clear all path constraints
right_arm.clear_path_constraints()
# Open the gripper
right_gripper.set_joint_value_target(GRIPPER_NEUTRAL)
right_gripper.go()
rospy.sleep(1)
# Return to the "resting" configuration stored in the SRDF file
right_arm.set_named_target('right_arm_zero')
# Plan and execute a trajectory to the goal configuration
right_arm.go()
rospy.sleep(1)
# Shut down MoveIt cleanly
moveit_commander.roscpp_shutdown()
# Exit MoveIt
moveit_commander.os._exit(0)
def __init__(self):
# Initialize the move_group API
moveit_commander.roscpp_initialize(sys.argv)
# Initialize the ROS node
rospy.init_node('moveit_demo', anonymous=True)
robot = RobotCommander()
# Connect to the right_arm move group
right_arm = MoveGroupCommander(GROUP_NAME_ARM)
# Initialize the move group for the right gripper
right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER)
# Increase the planning time since contraint planning can take a while
right_arm.set_planning_time(15)
# Allow replanning to increase the odds of a solution
right_arm.allow_replanning(True)
# Set the right arm reference frame
right_arm.set_pose_reference_frame(REFERENCE_FRAME)
# Allow some leeway in position(meters) and orientation (radians)
right_arm.set_goal_position_tolerance(0.05)
right_arm.set_goal_orientation_tolerance(0.1)
# Get the name of the end-effector link
end_effector_link = right_arm.get_end_effector_link()
# Start in the "resting" configuration stored in the SRDF file
right_arm.set_named_target('resting')
# Plan and execute a trajectory to the goal configuration
right_arm.go()
rospy.sleep(1)
# Open the gripper
right_gripper.set_joint_value_target(GRIPPER_NEUTRAL)
right_gripper.go()
rospy.sleep(1)
# Set an initial target pose with the arm up and to the right
target_pose = PoseStamped()
target_pose.header.frame_id = REFERENCE_FRAME
target_pose.pose.position.x = 0.237012590198
target_pose.pose.position.y = -0.0747191267505
target_pose.pose.position.z = 0.901578401949
target_pose.pose.orientation.w = 1.0
# Set the start state and target pose, then plan and execute
right_arm.set_start_state(robot.get_current_state())
right_arm.set_pose_target(target_pose, end_effector_link)
right_arm.go()
rospy.sleep(2)
# Close the gripper
right_gripper.set_joint_value_target(GRIPPER_CLOSED)
right_gripper.go()
rospy.sleep(1)
# Store the current pose
start_pose = right_arm.get_current_pose(end_effector_link)
# Create a contraints list and give it a name
constraints = Constraints()
constraints.name = "Keep gripper horizontal"
# Create an orientation constraint for the right gripper
orientation_constraint = OrientationConstraint()
orientation_constraint.header = start_pose.header
orientation_constraint.link_name = right_arm.get_end_effector_link()
orientation_constraint.orientation.w = 1.0
orientation_constraint.absolute_x_axis_tolerance = 0.1
orientation_constraint.absolute_y_axis_tolerance = 0.1
orientation_constraint.absolute_z_axis_tolerance = 3.14
orientation_constraint.weight = 1.0
# Append the constraint to the list of contraints
constraints.orientation_constraints.append(orientation_constraint)
# Set the path constraints on the right_arm
right_arm.set_path_constraints(constraints)
# Set a target pose for the arm
target_pose = PoseStamped()
target_pose.header.frame_id = REFERENCE_FRAME
target_pose.pose.position.x = 0.173187824708
target_pose.pose.position.y = -0.0159929871606
target_pose.pose.position.z = 0.692596608605
target_pose.pose.orientation.w = 1.0
# Set the start state and target pose, then plan and execute
right_arm.set_start_state_to_current_state()
right_arm.set_pose_target(target_pose, end_effector_link)
right_arm.go()
rospy.sleep(1)
# Clear all path constraints
right_arm.clear_path_constraints()
# Open the gripper
right_gripper.set_joint_value_target(GRIPPER_NEUTRAL)
right_gripper.go()
rospy.sleep(1)
# Return to the "resting" configuration stored in the SRDF file
right_arm.set_named_target('resting')
# Plan and execute a trajectory to the goal configuration
right_arm.go()
rospy.sleep(1)
# Shut down MoveIt cleanly
moveit_commander.roscpp_shutdown()
# Exit MoveIt
moveit_commander.os._exit(0)
def __init__(self):
# Initialize the move_group API
moveit_commander.roscpp_initialize(sys.argv)
# Initialize the ROS node
rospy.init_node('moveit_demo', anonymous=True)
robot = RobotCommander()
# Connect to the right_arm move group
right_arm = MoveGroupCommander(GROUP_NAME_ARM)
# Set the right arm reference frame
right_arm.set_pose_reference_frame(REFERENCE_FRAME)
# Allow some leeway in position(meters) and orientation (radians)
right_arm.set_goal_tolerance(0.00001)
# Get the name of the end-effector link
end_effector_link = right_arm.get_end_effector_link()
# Start in the "resting" configuration stored in the SRDF file
right_arm.set_named_target('right')
# Plan and execute a trajectory to the goal configuration
right_arm.go()
rospy.sleep(1)
# Set an initial target pose with the arm up and to the right
target_pose = PoseStamped()
target_pose.header.frame_id = REFERENCE_FRAME
target_pose.pose.position.x = 0.4
target_pose.pose.position.y = 0.3
target_pose.pose.position.z = 0.4
target_pose.pose.orientation.x = 0.670820393249937
target_pose.pose.orientation.y = 0.223606797749979
target_pose.pose.orientation.z = 0.223606797749979
target_pose.pose.orientation.w = 0.670820393249937
# Set the start state and target pose, then plan and execute
right_arm.set_pose_target(target_pose, end_effector_link)
right_arm.go()
rospy.sleep(2)
# Store the current pose
start_pose = right_arm.get_current_pose(end_effector_link)
# Create a contraints list and give it a name
constraints = Constraints()
constraints.name = "Keep gripper horizontal"
# Create an orientation constraint for the right gripper
orientation_constraint = OrientationConstraint()
orientation_constraint.header = start_pose.header
orientation_constraint.link_name = end_effector_link
orientation_constraint.absolute_x_axis_tolerance = 0.00001
orientation_constraint.absolute_y_axis_tolerance = 3.14
orientation_constraint.absolute_z_axis_tolerance = 0.00001
orientation_constraint.weight = 1.0
orientation_constraint.orientation = start_pose.pose.orientation
# Append the constraint to the list of contraints
constraints.orientation_constraints.append(orientation_constraint)
# Set the path constraints on the right_arm
right_arm.set_path_constraints(constraints)
# Set a target pose for the arm
target_pose = deepcopy(start_pose)
target_pose.header.frame_id = REFERENCE_FRAME
target_pose.pose.position.x = 0.4
target_pose.pose.position.y = -0.3
target_pose.pose.position.z = 0.4
target_pose.pose.orientation.x = 0.670820393249937
target_pose.pose.orientation.y = -0.223606797749979
target_pose.pose.orientation.z = -0.223606797749979
target_pose.pose.orientation.w = 0.670820393249937
#target_pose.pose.orientation.x = 0.707107
#target_pose.pose.orientation.y = 0
#target_pose.pose.orientation.z = 0
#target_pose.pose.orientation.w = 0.707107
# Set the start state and target pose, then plan and execute
right_arm.set_start_state_to_current_state()
right_arm.set_pose_target(target_pose, end_effector_link)
right_arm.go()
rospy.sleep(1)
# Clear all path constraints
right_arm.clear_path_constraints()
# Return to the "resting" configuration stored in the SRDF file
right_arm.set_named_target('up')
# Plan and execute a trajectory to the goal configuration
right_arm.go()
rospy.sleep(1)
# Shut down MoveIt cleanly
moveit_commander.roscpp_shutdown()
# Exit MoveIt
moveit_commander.os._exit(0)
def getOrientation(self, xyz):
pass
pose_target_2 = Pose()
pose_target_2.position.x = 0.3
pose_target_2.position.y = -0.5
pose_target_2.position.z = 0.15
pose_target_2.orientation.x = 0.0
pose_target_2.orientation.y = -0.707
pose_target_2.orientation.z = 0.0
pose_target_2.orientation.w = 0.707
group.set_planner_id("RRTConnectkConfigDefault")
group.allow_replanning(True)
rospy.loginfo("Set Target to Pose:\n{}".format(pose_target_2))
xyz = [
pose_target_2.position.x, pose_target_2.position.y,
pose_target_2.position.z
]
group.set_position_target(xyz)
result_p = group.go()
rospy.loginfo("Moving to the Position Executed... {}".format(result_p))
group.clear_path_constraints()
if result_p:
group.set_pose_target(pose_target_2)
result_o = group.go()
rospy.loginfo(
"Adjusting the Orientation Executed... {}".format(result_o))
def __init__(self):
# Initialize the move_group API
moveit_commander.roscpp_initialize(sys.argv)
# Initialize the ROS node
rospy.init_node('moveit_constraints_demo', anonymous=True)
robot = RobotCommander()
# Connect to the arm move group
arm = MoveGroupCommander(GROUP_NAME_ARM)
# Initialize the move group for the right gripper
gripper = MoveGroupCommander(GROUP_NAME_GRIPPER)
# Increase the planning time since constraint planning can take a while
arm.set_planning_time(5)
# Allow replanning to increase the odds of a solution
arm.allow_replanning(True)
# Set the right arm reference frame
arm.set_pose_reference_frame(REFERENCE_FRAME)
# Allow some leeway in position(meters) and orientation (radians)
arm.set_goal_position_tolerance(0.05)
arm.set_goal_orientation_tolerance(0.1)
# Get the name of the end-effector link
end_effector_link = arm.get_end_effector_link()
# Start in the "resting" configuration stored in the SRDF file
arm.set_named_target('l_arm_init')
# Plan and execute a trajectory to the goal configuration
arm.go()
rospy.sleep(1)
# Open the gripper
gripper.set_joint_value_target(GRIPPER_NEUTRAL)
gripper.go()
rospy.sleep(1)
# Set an initial target pose with the arm up and to the right
target_pose = PoseStamped()
target_pose.header.frame_id = REFERENCE_FRAME
target_pose.pose.position.x = 0.263803774718
target_pose.pose.position.y = 0.295405791959
target_pose.pose.position.z = 0.690438884208
q = quaternion_from_euler(0, 0, -1.57079633)
target_pose.pose.orientation.x = q[0]
target_pose.pose.orientation.y = q[1]
target_pose.pose.orientation.z = q[2]
target_pose.pose.orientation.w = q[3]
# Set the start state and target pose, then plan and execute
arm.set_start_state(robot.get_current_state())
arm.set_pose_target(target_pose, end_effector_link)
arm.go()
rospy.sleep(2)
# Close the gripper
gripper.set_joint_value_target(GRIPPER_CLOSED)
gripper.go()
rospy.sleep(1)
# Store the current pose
start_pose = arm.get_current_pose(end_effector_link)
# Create a contraints list and give it a name
constraints = Constraints()
constraints.name = "Keep gripper horizontal"
# Create an orientation constraint for the right gripper
orientation_constraint = OrientationConstraint()
orientation_constraint.header = start_pose.header
orientation_constraint.link_name = arm.get_end_effector_link()
orientation_constraint.orientation.w = 1.0
orientation_constraint.absolute_x_axis_tolerance = 0.1
orientation_constraint.absolute_y_axis_tolerance = 0.1
orientation_constraint.absolute_z_axis_tolerance = 0.1
orientation_constraint.weight = 1.0
# q = quaternion_from_euler(0, 0, -1.57079633)
# orientation_constraint.orientation.x = q[0]
# orientation_constraint.orientation.y = q[1]
# orientation_constraint.orientation.z = q[2]
# orientation_constraint.orientation.w = q[3]
# Append the constraint to the list of contraints
constraints.orientation_constraints.append(orientation_constraint)
# Set the path constraints on the arm
arm.set_path_constraints(constraints)
# Set a target pose for the arm
target_pose = PoseStamped()
target_pose.header.frame_id = REFERENCE_FRAME
target_pose.pose.position.x = 0.39000848183
target_pose.pose.position.y = 0.185900663329
target_pose.pose.position.z = 0.732752341378
target_pose.pose.orientation.w = 1
# Set the start state and target pose, then plan and execute
arm.set_start_state_to_current_state()
arm.set_pose_target(target_pose, end_effector_link)
arm.go()
rospy.sleep(1)
# Clear all path constraints
arm.clear_path_constraints()
# Open the gripper
gripper.set_joint_value_target(GRIPPER_NEUTRAL)
gripper.go()
rospy.sleep(1)
# Return to the "resting" configuration stored in the SRDF file
arm.set_named_target('l_arm_init')
# Plan and execute a trajectory to the goal configuration
arm.go()
rospy.sleep(1)
# Shut down MoveIt cleanly
moveit_commander.roscpp_shutdown()
# Exit MoveIt
moveit_commander.os._exit(0)
