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)
Esempio n. 2
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
Esempio n. 5
0
    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))
Esempio n. 6
0
    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)