pick.py
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1 #!/usr/bin/env python
2 
3 # Software License Agreement (BSD License)
4 #
5 # Copyright (c) 2013, Willow Garage, Inc.
6 # All rights reserved.
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8 # Redistribution and use in source and binary forms, with or without
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14 # * Redistributions in binary form must reproduce the above
15 # copyright notice, this list of conditions and the following
16 # disclaimer in the documentation and/or other materials provided
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22 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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35 # Author: Ioan Sucan
36 
37 import sys
38 import rospy
39 from moveit_commander import RobotCommander, PlanningSceneInterface, roscpp_initialize, roscpp_shutdown
40 from geometry_msgs.msg import PoseStamped
41 
42 if __name__=='__main__':
43 
44  roscpp_initialize(sys.argv)
45  rospy.init_node('moveit_py_demo', anonymous=True)
46 
47  scene = PlanningSceneInterface()
48  robot = RobotCommander()
49  rospy.sleep(1)
50 
51  # clean the scene
52  scene.remove_world_object("pole")
53  scene.remove_world_object("table")
54  scene.remove_world_object("part")
55 
56  # publish a demo scene
57  p = PoseStamped()
58  p.header.frame_id = robot.get_planning_frame()
59  p.pose.position.x = 0.7
60  p.pose.position.y = -0.4
61  p.pose.position.z = 0.85
62  p.pose.orientation.w = 1.0
63  scene.add_box("pole", p, (0.3, 0.1, 1.0))
64 
65  p.pose.position.y = -0.2
66  p.pose.position.z = 0.175
67  scene.add_box("table", p, (0.5, 1.5, 0.35))
68 
69  p.pose.position.x = 0.6
70  p.pose.position.y = -0.7
71  p.pose.position.z = 0.5
72  scene.add_box("part", p, (0.15, 0.1, 0.3))
73 
74  rospy.sleep(1)
75 
76  # pick an object
77  robot.right_arm.pick("part")
78 
79  rospy.spin()
80  roscpp_shutdown()


moveit_commander
Author(s): Ioan Sucan
autogenerated on Mon Oct 15 2018 03:47:40