Python MoveGroupCommander.place方法代码示例

# 需要导入模块: from moveit_commander import MoveGroupCommander [as 别名]
# 或者: from moveit_commander.MoveGroupCommander import place [as 别名]
    def __init__(self):
        # Initialize the move_group API
        moveit_commander.roscpp_initialize(sys.argv)
        
        rospy.init_node('moveit_demo')
                
        # Use the planning scene object to add or remove objects
        scene = PlanningSceneInterface("base_link")
        
        # Create a scene publisher to push changes to the scene
        self.scene_pub = rospy.Publisher('planning_scene', PlanningScene)
        
        # Create a publisher for displaying gripper poses
        self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped)
        
        # Create a dictionary to hold object colors
        self.colors = dict()
                        
        # Initialize the move group for the right arm
        right_arm = MoveGroupCommander(GROUP_NAME_ARM)
        
        # Initialize the move group for the right gripper
        right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER)
        
        # Get the name of the end-effector link
        end_effector_link = right_arm.get_end_effector_link()
 
        # 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)

        # 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 5 seconds per planning attempt
        right_arm.set_planning_time(15)
        
        # Set a limit on the number of pick attempts before bailing
        max_pick_attempts = 5
        
        # Set a limit on the number of place attempts
        max_place_attempts = 3
                
        # Give the scene a chance to catch up
        rospy.sleep(2)
        
        # Connect to the UBR-1 find_objects action server
        rospy.loginfo("Connecting to basic_grasping_perception/find_objects...")
        find_objects = actionlib.SimpleActionClient("basic_grasping_perception/find_objects", FindGraspableObjectsAction)
        find_objects.wait_for_server()
        rospy.loginfo("...connected")
        
        # Give the scene a chance to catch up    
        rospy.sleep(1)
        
        # Start the arm in the "resting" pose stored in the SRDF file
        right_arm.set_named_target('resting')
        right_arm.go()
        
        # Open the gripper to the neutral position
        right_gripper.set_joint_value_target(GRIPPER_NEUTRAL)
        right_gripper.go()
       
        rospy.sleep(1)
        
        # Begin the main perception and pick-and-place loop
        while not rospy.is_shutdown():
            # Initialize the grasping goal
            goal = FindGraspableObjectsGoal()
            
            # We don't use the UBR-1 grasp planner as it does not work with our gripper
            goal.plan_grasps = False
            
            # Send the goal request to the find_objects action server which will trigger
            # the perception pipeline
            find_objects.send_goal(goal)
            
            # Wait for a result
            find_objects.wait_for_result(rospy.Duration(5.0))
            
            # The result will contain support surface(s) and objects(s) if any are detected
            find_result = find_objects.get_result()
    
            # Display the number of objects found
            rospy.loginfo("Found %d objects" % len(find_result.objects))
    
            # Remove all previous objects from the planning scene
            for name in scene.getKnownCollisionObjects():
                scene.removeCollisionObject(name, False)
            for name in scene.getKnownAttachedObjects():
                scene.removeAttachedObject(name, False)
            scene.waitForSync()
            
            # Clear the virtual object colors
            scene._colors = dict()
    
            # Use the nearest object on the table as the target
#.........这里部分代码省略.........

# 需要导入模块: from moveit_commander import MoveGroupCommander [as 别名]
# 或者: from moveit_commander.MoveGroupCommander import place [as 别名]
    def __init__(self):
        # Initialize the move_group API
        moveit_commander.roscpp_initialize(sys.argv)
        
        rospy.init_node('moveit_demo')
        
        # Use the planning scene object to add or remove objects
        scene = PlanningSceneInterface()
        
        # Create a scene publisher to push changes to the scene
        self.scene_pub = rospy.Publisher('planning_scene', PlanningScene)
        
        # Create a publisher for displaying gripper poses
        self.gripper_pose_pub = rospy.Publisher('gripper_pose', PoseStamped)
        
        # Create a dictionary to hold object colors
        self.colors = dict()
                        
        # Initialize the move group for the right arm
        right_arm = MoveGroupCommander(GROUP_NAME_ARM)
        
        # Initialize the move group for the right gripper
        right_gripper = MoveGroupCommander(GROUP_NAME_GRIPPER)
        
        # Get the name of the end-effector link
        end_effector_link = right_arm.get_end_effector_link()
 
        # 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)

        # 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 10 seconds per planning attempt
        right_arm.set_planning_time(10)
        
        # Set a limit on the number of pick attempts before bailing
        max_pick_attempts = 10
        
        # Set a limit on the number of place attempts
        max_place_attempts = 5
                
        # Give the scene a chance to catch up
        rospy.sleep(2)

        # Give each of the scene objects a unique name        
        table_id = 'table'
        box1_id = 'box1'
        box2_id = 'box2'
        target_id = 'target'
        tool_id = 'tool'
                
        # Remove leftover objects from a previous run
        scene.remove_world_object(table_id)
        scene.remove_world_object(box1_id)
        scene.remove_world_object(box2_id)
        scene.remove_world_object(target_id)
        scene.remove_world_object(tool_id)
        
        # Remove any attached objects from a previous session
        scene.remove_attached_object(GRIPPER_FRAME, target_id)
        
        # Give the scene a chance to catch up    
        rospy.sleep(1)
        
        # Start the arm in the "resting" pose stored in the SRDF file
        right_arm.set_named_target('right_start')
        right_arm.go()
        
        # Open the gripper to the neutral position
        right_gripper.set_joint_value_target(GRIPPER_NEUTRAL)
        right_gripper.go()
       
        rospy.sleep(1)

        # Set the height of the table off the ground
        table_ground = 0.65
        
        # Set the dimensions of the scene objects [l, w, h]
        table_size = [0.2, 0.7, 0.01]
        box1_size = [0.1, 0.05, 0.05]
        box2_size = [0.05, 0.05, 0.15]
        
        # Set the target size [l, w, h]
        target_size = [0.02, 0.01, 0.12]
        
        # Add a table top and two boxes to the scene
        table_pose = PoseStamped()
        table_pose.header.frame_id = REFERENCE_FRAME
        table_pose.pose.position.x = 0.55
        table_pose.pose.position.y = 0.0
        table_pose.pose.position.z = table_ground + table_size[2] / 2.0
        table_pose.pose.orientation.w = 1.0
        scene.add_box(table_id, table_pose, table_size)
        
        box1_pose = PoseStamped()
#.........这里部分代码省略.........

# 需要导入模块: from moveit_commander import MoveGroupCommander [as 别名]
# 或者: from moveit_commander.MoveGroupCommander import place [as 别名]

#.........这里部分代码省略.........
        #self.scene.remove_world_object(target_id)

        #################### POST-GRASP RETREAT #########################

        M5 = transformations.quaternion_matrix([initial_pose.pose.orientation.x, initial_pose.pose.orientation.y, initial_pose.pose.orientation.z, initial_pose.pose.orientation.w])
        M5[0,3] = initial_pose.pose.position.x
        M5[1,3] = initial_pose.pose.position.y 
        M5[2,3] = initial_pose.pose.position.z

        M6 = transformations.euler_matrix(0, 1.57, 0)
        M6[0,3] = 0.0  # offset about x
        M6[1,3] = 0.0  # about y
        M6[2,3] = 0.3  # about z

        T3 = np.dot(M5,  M6)
        post_grasping = deepcopy(initial_pose)
        post_grasping.pose.position.x = T3[0,3] 
        post_grasping.pose.position.y = T3[1,3]
        post_grasping.pose.position.z = T3[2,3]

        quat3 = transformations.quaternion_from_matrix(T3)
        post_grasping.pose.orientation.x = quat3[0]
        post_grasping.pose.orientation.y = quat3[1]
        post_grasping.pose.orientation.z = quat3[2]
        post_grasping.pose.orientation.w = quat3[3]
        post_grasping.header.frame_id = 'gazebo_world'

        self.plan_exec(post_grasping)




        # Specify a pose to place the target after being picked up
        place_pose = PoseStamped()
        place_pose.header.frame_id = REFERENCE_FRAME
        place_pose.pose.position.x = 0.52
        place_pose.pose.position.y = -0.48
        place_pose.pose.position.z = 0.48
        place_pose.pose.orientation.w = 1.0


        n_attempts = 0
        max_place_attempts = 2
        # Generate valid place poses
        places = self.make_places(place_pose)

        success = False
        # Repeat until we succeed or run out of attempts
        while success == False and n_attempts < max_place_attempts:
            for place in places:
                success = self.right_arm.place(target_id, place)
                if success:
                    break
            n_attempts += 1
            rospy.loginfo("Place attempt: " +  str(n_attempts))
            rospy.sleep(0.2)


        self.open_gripper()
        obj_att = None
        rospy.sleep(3)



##        # Initialize the grasp object
##        g = Grasp()