Merge branch 'main' of https://github.com/mrceki/air_robot_arm into main

README.md

@@ -46,3 +46,5 @@ rosrun air_moveit_config add_sphere
 ```
 roslaunch air_moveit_config air_mtc.launch
 ```
+## Tips
+The workspace may not be created when you clone the ADS repository.

air_moveit_config/scripts/generate_pose.py

@@ -0,0 +1,51 @@
+#! /usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+from moveit.task_constructor import core, stages
+from geometry_msgs.msg import PoseStamped
+from moveit_commander.roscpp_initializer import roscpp_initialize
+import time
+
+roscpp_initialize("mtc_tutorial_compute_ik")
+
+# Specify the planning group
+group = "air"
+
+# Create a task
+task = core.Task()
+
+# Get the current robot state
+currentState = stages.CurrentState("current state")
+task.add(currentState)
+
+# Create a planner instance that is used to connect
+# the current state to the grasp approach pose
+pipelinePlanner = core.PipelinePlanner()
+pipelinePlanner.planner = "RRTConnectkConfigDefault"
+planners = [(group, pipelinePlanner)]
+
+# Connect the two stages
+connect = stages.Connect("connect1", planners)
+connect.properties.configureInitFrom(core.Stage.PropertyInitializerSource.PARENT)
+task.add(connect)
+
+# [initAndConfigGeneratePose]
+# create an example pose wrt. the origin of the
+# panda arm link8
+pose = PoseStamped()
+pose.header.frame_id = "qbhand_base_link"
+
+# Calculate the inverse kinematics for the current robot state
+generatePose = stages.GeneratePose("generate pose")
+
+# spwan a pose whenever there is a solution of the monitored stage
+generatePose.setMonitoredStage(task["current state"])
+generatePose.pose = pose
+
+# Add the stage to the task hierarchy
+task.add(generatePose)
+# [initAndConfigGeneratePose]
+
+if task.plan():
+    task.publish(task.solutions[0])
+time.sleep(1)

air_moveit_config/scripts/pickplace.py

@@ -0,0 +1,134 @@
+#! /usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+from moveit_commander.roscpp_initializer import roscpp_initialize
+from moveit.task_constructor import core, stages
+from moveit_commander import PlanningSceneInterface
+from geometry_msgs.msg import PoseStamped, TwistStamped
+import time
+import rospy
+
+
+roscpp_initialize("pickplace")
+rospy.loginfo("Z<OERJGHSDFKJSDFJKASDJKLFASJKLDFJKLASDFJKLKASJDFJKLASDLF")
+# [pickAndPlaceTut1]
+# Specify robot parameters
+arm = "air"
+eef = "gripper"
+# [pickAndPlaceTut1]
+
+# [pickAndPlaceTut2]
+# Specify object parameters
+object_name = "grasp_object"
+object_radius = 0.02
+
+# Start with a clear planning scene
+psi = PlanningSceneInterface(synchronous=True)
+psi.remove_world_object()
+
+# [initCollisionObject]
+# Grasp object properties
+objectPose = PoseStamped()
+objectPose.header.frame_id = "world"
+objectPose.pose.orientation.w = 1.0
+objectPose.pose.position.x = 0.55
+objectPose.pose.position.y = -0.25
+objectPose.pose.position.z = 0.82
+# [initCollisionObject]
+
+# Add the grasp object to the planning scene
+psi.add_cylinder(object_name, objectPose, height=0.2, radius=0.01)
+# [pickAndPlaceTut2]
+
+# [pickAndPlaceTut3]
+# Create a task
+task = core.Task("PandaPickPipelineExample")
+task.enableIntrospection()
+# [pickAndPlaceTut3]
+
+# [pickAndPlaceTut4]
+# Start with the current state
+task.add(stages.CurrentState("current"))
+
+# [initAndConfigConnect]
+# Create a planner instance that is used to connect
+# the current state to the grasp approach pose
+pipeline = core.PipelinePlanner()
+pipeline.planner = "RRTConnect"
+planners = [(arm, pipeline)]
+
+# Connect the two stages
+task.add(stages.Connect("connect1", planners))
+# [initAndConfigConnect]
+# [pickAndPlaceTut4]
+
+# [initAndConfigGenerateGraspPose]
+# The grasp generator spawns a set of possible grasp poses around the object
+grasp_generator = stages.GenerateGraspPose("Generate Grasp Pose")
+grasp_generator.angle_delta = 0.3
+grasp_generator.pregrasp = "open"
+grasp_generator.grasp = "closed"
+grasp_generator.setMonitoredStage(task["current"])  # Generate solutions for all initial states
+# [initAndConfigGenerateGraspPose]
+# [pickAndPlaceTut5]
+
+# [pickAndPlaceTut6]
+# [initAndConfigSimpleGrasp]
+# SimpleGrasp container encapsulates IK calculation of arm pose as well as finger closing
+simpleGrasp = stages.SimpleGrasp(grasp_generator, "Grasp")
+# Set frame for IK calculation in the center between the fingers
+ik_frame = PoseStamped()
+ik_frame.header.frame_id = "qbhand_base_link"
+ik_frame.pose.position.y = 0.04
+ik_frame.pose.position.z = 0.13
+ik_frame.pose.orientation.w= 1
+ik_frame.pose.orientation.x=-0.5646338
+ik_frame.pose.orientation.y=-0.5646338
+ik_frame.pose.orientation.z=0.5646338
+simpleGrasp.setIKFrame(ik_frame)
+# [initAndConfigSimpleGrasp]
+# [pickAndPlaceTut6]
+
+# [pickAndPlaceTut7]
+# [initAndConfigPick]
+# Pick container comprises approaching, grasping (using SimpleGrasp stage), and lifting of object
+pick = stages.Pick(simpleGrasp, "Pick")
+pick.eef = eef
+pick.object = object_name
+
+# Twist to approach the object
+approach = TwistStamped()
+approach.header.frame_id = "world"
+approach.twist.linear.z = -1.0
+pick.setApproachMotion(approach, 0.00, 0.25) # (approach, 0.03, 0.1)
+
+# Twist to lift the object
+lift = TwistStamped()
+lift.header.frame_id = "qbhand_base_link"
+lift.twist.linear.z = - 1.0
+pick.setLiftMotion(lift, 0.00, 0.25) # (lift, 0.03, 0.1)
+# [pickAndPlaceTut7]
+
+# [pickAndPlaceTut8]
+# Add the pick stage to the task's stage hierarchy
+task.add(pick)
+# [initAndConfigPick]
+# [pickAndPlaceTut8]
+
+# [pickAndPlaceTut9]
+# Connect the Pick stage with the following Place stage
+
+if task.plan():
+    try:
+        task.publish(task.solutions[0])
+    except:
+        print("Can't publish task")    
+
+
+# avoid ClassLoader warning
+del pipeline
+del planners
+# [pickAndPlaceTut13]
+
+# Prevent the program from exiting, giving you the opportunity to inspect solutions in rviz
+time.sleep(120)