pick.py
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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()


moveit_commander
Author(s): Ioan Sucan
autogenerated on Mon Apr 23 2018 10:25:57