00001 #!/usr/bin/env python 00002 00003 # Software License Agreement (BSD License) 00004 # 00005 # Copyright (c) 2013, Willow Garage, Inc. 00006 # All rights reserved. 00007 # 00008 # Redistribution and use in source and binary forms, with or without 00009 # modification, are permitted provided that the following conditions 00010 # are met: 00011 # 00012 # * Redistributions of source code must retain the above copyright 00013 # notice, this list of conditions and the following disclaimer. 00014 # * Redistributions in binary form must reproduce the above 00015 # copyright notice, this list of conditions and the following 00016 # disclaimer in the documentation and/or other materials provided 00017 # with the distribution. 00018 # * Neither the name of Willow Garage, Inc. nor the names of its 00019 # contributors may be used to endorse or promote products derived 00020 # from this software without specific prior written permission. 00021 # 00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 # POSSIBILITY OF SUCH DAMAGE. 00034 # 00035 # Author: Ioan Sucan 00036 00037 import sys 00038 import rospy 00039 from moveit_commander import RobotCommander, PlanningSceneInterface, roscpp_initialize, roscpp_shutdown 00040 from geometry_msgs.msg import PoseStamped 00041 00042 if __name__=='__main__': 00043 00044 roscpp_initialize(sys.argv) 00045 rospy.init_node('moveit_py_demo', anonymous=True) 00046 00047 scene = PlanningSceneInterface() 00048 robot = RobotCommander() 00049 rospy.sleep(1) 00050 00051 # clean the scene 00052 scene.remove_world_object("pole") 00053 scene.remove_world_object("table") 00054 scene.remove_world_object("part") 00055 00056 # publish a demo scene 00057 p = PoseStamped() 00058 p.header.frame_id = robot.get_planning_frame() 00059 p.pose.position.x = 0.7 00060 p.pose.position.y = -0.4 00061 p.pose.position.z = 0.85 00062 p.pose.orientation.w = 1.0 00063 scene.add_box("pole", p, (0.3, 0.1, 1.0)) 00064 00065 p.pose.position.y = -0.2 00066 p.pose.position.z = 0.175 00067 scene.add_box("table", p, (0.5, 1.5, 0.35)) 00068 00069 p.pose.position.x = 0.6 00070 p.pose.position.y = -0.7 00071 p.pose.position.z = 0.5 00072 scene.add_box("part", p, (0.15, 0.1, 0.3)) 00073 00074 rospy.sleep(1) 00075 00076 # pick an object 00077 robot.right_arm.pick("part") 00078 00079 rospy.spin() 00080 roscpp_shutdown()