mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
157 lines
4.4 KiB
Python
Executable File
157 lines
4.4 KiB
Python
Executable File
#! /usr/bin/env python
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# -*- coding: utf-8 -*-
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from moveit.task_constructor import core, stages
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from moveit_commander import PlanningSceneInterface
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from geometry_msgs.msg import PoseStamped, TwistStamped
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import rospy
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import time
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rospy.init_node("PickPlacePython")
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# Specify robot parameters
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arm = "panda_arm"
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eef = "hand"
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# Specify object parameters
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object_name = "grasp_object"
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object_radius = 0.02
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# Start with a clear planning scene
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psi = PlanningSceneInterface()
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time.sleep(0.2)
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psi.remove_world_object()
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time.sleep(0.2)
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# Grasp object properties
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objectRadius = 1.0
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objectPose = PoseStamped()
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objectPose.header.frame_id = "world"
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objectPose.pose.orientation.x = 1.0
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objectPose.pose.position.x = 0.30702
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objectPose.pose.position.y = 0.0
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objectPose.pose.position.z = 0.285
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# Add the grasp object to the planning scene
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time.sleep(0.2)
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psi.add_sphere(object_name, objectPose, object_radius)
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time.sleep(0.2)
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# Create a task
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task = core.Task("PandaPickPipelineExample")
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task.enableIntrospection()
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# Start with the current state
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current = stages.CurrentState("current")
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task.add(current)
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# Create a planner instance that is used to connect
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# the current state to the grasp approach pose
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pipelinePlanner = core.PipelinePlanner()
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pipelinePlanner.planner = "RRTConnectkConfigDefault"
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planners = [(arm, pipelinePlanner)]
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# Connect the two stages
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connect = stages.Connect("connect1", planners)
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connect.properties.configureInitFrom(core.Stage.PropertyInitializerSource.PARENT)
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task.add(connect)
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# The grasp generator spawns a set of possible grasp
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# poses around the object
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grasp_generator = stages.GenerateGraspPose("Generate Grasp Pose")
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grasp_generator.angle_delta = 0.2
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grasp_generator.pregrasp = "open"
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grasp_generator.grasp = "close"
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grasp_generator.setMonitoredStage(task["current"])
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# Make sure the object is not getting placed
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# in-collision with the base frame of the panda's gripper
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ikFrame = PoseStamped()
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ikFrame.header.frame_id = "panda_hand"
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ikFrame.pose.position.z = 0.09
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# Generate a simple grasp for every grasp generator pose.
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# This stage wraps the inverse kinematic computation
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simpleGrasp = stages.SimpleGrasp(grasp_generator, "Simple Grasp")
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simpleGrasp.setIKFrame(ikFrame)
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# Pick pipeline wrapper
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pick = stages.Pick(simpleGrasp, "Pick")
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pick.eef = eef
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pick.object = object_name
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# Twist to approach the object
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approach = TwistStamped()
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approach.header.frame_id = "world"
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approach.twist.linear.z = -1.0
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pick.setApproachMotion(approach, 0.03, 0.1)
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# Twist to lift the object
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lift = TwistStamped()
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lift.header.frame_id = "panda_hand"
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lift.twist.linear.z = -1.0
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pick.setLiftMotion(lift, 0.03, 0.1)
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# Add the pick stage to the task's stage hierarchy
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task.add(pick)
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# Connect the pick stage with the now following
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# place stage
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connect = stages.Connect("connect2", planners)
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connect.properties.configureInitFrom(core.Stage.PropertyInitializerSource.PARENT)
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task.add(connect)
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# Define the pose that the object should obtain
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# when it is placed
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placePose = PoseStamped()
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placePose.header.frame_id = "world"
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placePose.pose = objectPose.pose
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placePose.pose.position.y += 0.2 # modify place pose relative to pick pose
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# The grasp generator samples possible grasp
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# frames around the destination pose.
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grasp_generator = stages.GeneratePlacePose("Generate Place Pose")
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grasp_generator.setMonitoredStage(task["Pick"])
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grasp_generator.object = object_name
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grasp_generator.pose = placePose
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grasp_generator.properties.configureInitFrom(
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core.Stage.PropertyInitializerSource.PARENT, ["ik_frame"]
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)
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# Generate a grasp for every sampled pose by again wrapping
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# inverse kinematics computation
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simpleUnGrasp = stages.SimpleUnGrasp(grasp_generator, "Simple Grasp")
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simpleUnGrasp.setIKFrame(ikFrame)
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simpleUnGrasp.grasp = "close"
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simpleUnGrasp.pregrasp = "open"
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# Place wrapper stage
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place = stages.Place(simpleUnGrasp, "Place")
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place.eef = eef
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place.object = object_name
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place.eef_frame = "panda_link8"
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# Twist to retract from the object
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retract = TwistStamped()
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retract.header.frame_id = "world"
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retract.twist.linear.z = 1.0
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place.setRetractMotion(retract, 0.03, 0.1)
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# Twist to place the object
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placeMotion = TwistStamped()
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placeMotion.header.frame_id = "panda_hand"
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placeMotion.twist.linear.z = 1.0
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place.setPlaceMotion(placeMotion, 0.03, 0.1)
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# Add the place pipeline to the task's hierarchy
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task.add(place)
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if task.plan():
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task.publish(task.solutions[0])
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time.sleep(1)
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# Prevent the program from exiting,
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# giving you the opportunity to inspect the solutions
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# visually via the solution topic in rviz.
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rospy.spin()
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