ReadME

Steps for pick and place task

To spawn the robot in the prorobman world:

roslaunch pick_and_place spawn_sample.launch

To broadcast cube pose as parameters

rosrun pick_and_place cube_param.py

To perform pick and place task

rosrun pick_and_place pick_box.py

For modifying scripts according to your task

Demo Script

import rospy
from pick_and_place_module.pick_and_place import PickAndPlace

pick_and_place = PickAndPlace(0.05, 0.5) # gripper_offset, intermediate_z_stop
pick_position=[1,2,3]
pick_orientation=[1.57,3.14,0] # Euler values 

place_position=[2,3,4]
place_orientation=[1.57,3.14,0]
    
pick_and_place.setPickPose(*pick_position,*pick_orientation) #setting the pick pose
pick_and_place.setDropPose(*place_position,*place_orientation) #setting the place pose
pick_and_place.setGripperPose(0.02, 0.02) # gripper finger1 movemen, gripper finger 2 movement 

pick_and_place.execute_pick_and_place() # pick and place in joint space
pick_and_place.execute_cartesian_pick_and_place() # pick and place in cartesian space

For modifying the package to your task, make changes to the generate_waypoints function in the pick_and_place.py script

Acknowledgments

• Staa, R., & Pan, W. rickstaa/panda-gazebo [Computer software]. https://github.com/rickstaa/stable-gym
• https://github.com/iROSA-lab/ProRobMan