Updated Arm Manipulator pick and place task

00_GettingStarted/docker/i2r/Dockerfile

@@ -11,3 +11,13 @@ RUN apt-get update && apt-get install -y \
 python3-catkin-tools \
 && rm -rf /var/lib/apt/lists/*
 
+RUN rosdep update
+RUN apt-get update && apt-get dist-upgrade -y \
+&& apt install -y ros-melodic-moveit \
+&& rm -rf /var/lib/apt/lists/*
+
+RUN cd ~/catkin_ws/src
+
+RUN cd ~/catkin_ws \
+&& catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release \
+

00_GettingStarted/docker/i2r/catkin_ws/src/task_2/CMakeLists.txt

+cmake_minimum_required(VERSION 3.0.2)
+project(task_2)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  geometry_msgs
+  moveit_commander
+  moveit_msgs
+  rospy
+  tf
+  tf2_ros
+  trajectory_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   geometry_msgs#   geometry_msgs#   moveit_msgs#   trajectory_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+  LIBRARIES test_sripts_v2
+  CATKIN_DEPENDS geometry_msgs geometry_msgs moveit_commander moveit_msgs rospy tf trajectory_msgs tf2_ros
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/test_sripts_v2.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/test_sripts_v2_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+# Mark executable scripts (Python etc.) for installation
+# in contrast to setup.py, you can choose the destination
+catkin_install_python(PROGRAMS
+  scripts/move_arm.py scripts/pick_excercise_v1.py scripts/place_excercise_v1.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_test_sripts_v2.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

00_GettingStarted/docker/i2r/catkin_ws/src/task_2/package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>task_2</name>
+  <version>0.0.0</version>
+  <description>The task_2 package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="robotics@todo.todo">robotics</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/test_sripts_v2</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>moveit_commander</build_depend>
+  <build_depend>moveit_msgs</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>tf2_ros</build_depend>
+  <build_depend>trajectory_msgs</build_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>moveit_commander</build_export_depend>
+  <build_export_depend>moveit_msgs</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>tf</build_export_depend>
+  <build_export_depend>tf2_ros</build_export_depend>
+  <build_export_depend>trajectory_msgs</build_export_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>moveit_commander</exec_depend>
+  <exec_depend>moveit_msgs</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>tf</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>trajectory_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

00_GettingStarted/docker/i2r/catkin_ws/src/task_2/scripts/move_arm.py

+#!/usr/bin/env python
+
+#### Task 2
+
+#### Imports
+import sys
+import rospy
+import math
+from moveit_commander import RobotCommander, MoveGroupCommander
+from moveit_commander import PlanningSceneInterface, roscpp_initialize, roscpp_shutdown
+from geometry_msgs.msg import PoseStamped, Pose
+import moveit_msgs.msg 
+from moveit_msgs.msg import Grasp, GripperTranslation, PlaceLocation
+from trajectory_msgs.msg import JointTrajectoryPoint
+import geometry_msgs.msg
+from tf import transformations
+from copy import deepcopy
+
+#### Initialise a robotics node
+roscpp_initialize(sys.argv)
+rospy.init_node('picknplace_node', anonymous=True)
+print('Pick n Place Node initialised')
+
+#### MoveIt APIs initialising
+scene = PlanningSceneInterface()
+robot = RobotCommander()
+group_name="panda_arm"
+move_group = MoveGroupCommander(group_name)
+
+#### Details
+group_names = robot.get_group_names()
+print('Robot groups available:',group_names)
+planning_frame = move_group.get_planning_frame()
+print('Reference frame:',planning_frame)
+eef_link = move_group.get_end_effector_link()
+print('End effector link:',planning_frame)
+print('Robot current state:',robot.get_current_state())
+
+#### Publisher for publishing the trajectories 
+display_trajectory_publisher = rospy.Publisher("/move_group/display_planned_path", moveit_msgs.msg.DisplayTrajectory, queue_size=20)
+
+#### Adding objects into the scene
+## Q: Add the following set of objects with as per the specifications given
+
+table_id = 'table'
+target_id = 'target'
+
+table_ground = 0.65       
+table_size = [0.2, 0.7, 0.1]   
+target_size = [0.2, 0.1, 0.2]
+
+table_pose = PoseStamped()
+table_pose.header.frame_id = planning_frame
+table_pose.pose.position.x = 0.55
+table_pose.pose.position.y = 0.0
+table_pose.pose.position.z = table_ground + table_size[2] / 2.0
+table_pose.pose.orientation.w = 1.0
+scene.add_box(table_id, table_pose, table_size)
+        
+target_pose = PoseStamped()
+target_pose.header.frame_id = planning_frame
+target_pose.pose.position.x = 0.55
+target_pose.pose.position.y = -0.1
+target_pose.pose.position.z = table_ground + table_size[2] + target_size[2] / 2.0
+target_pose.pose.orientation.w = 1.0   
+scene.add_box(target_id, target_pose, target_size)
+
+#### Specifying and executing a goal in joint states
+tau = 2*math.pi
+joint_goal = move_group.get_current_joint_values()
+joint_goal[0] = 0
+joint_goal[1] = -tau / 8
+joint_goal[2] = 0
+joint_goal[3] = -tau / 4
+joint_goal[4] = 0
+joint_goal[5] = tau / 6  # 1/6 of a turn
+joint_goal[6] = 0
+
+move_group.go(joint_goal, wait=True)
+move_group.stop()
+
+#### Move the robotics arm towards a pre-defined end effector pose
+## Q: Move the end-effector to the predefined locaiton with value (x,y,z)=[.4,.1,.4] & w=[1]
+## Hint: A) Set pose_goal using an instace of geometry_msgs.msg.Pose() B) Use function move_group.set_pose_target(); C)Execute the pose goal using function move_group.go()
+pose_goal = geometry_msgs.msg.Pose()
+pose_goal.orientation.w = 1.0
+pose_goal.position.x = 0.4
+pose_goal.position.y = 0.1
+pose_goal.position.z = 0.4
+
+move_group.set_pose_target(pose_goal)
+move_group.go(wait=True)
+
+#### For stopping and clearing pose targets
+move_group.stop()
+move_group.clear_pose_targets()
+
+
+
+        
+#### Set the support surface name to the table object
+move_group.set_support_surface_name(table_id)
+        
+
+
+
+
+
+
+
+

00_GettingStarted/docker/i2r/catkin_ws/src/task_2/scripts/pick_excercise_v1.py

+#!/usr/bin/env python
+
+#### Task 2
+
+#### Imports
+import sys
+import rospy
+import math
+from moveit_commander import RobotCommander, MoveGroupCommander
+from moveit_commander import PlanningSceneInterface, roscpp_initialize, roscpp_shutdown
+from geometry_msgs.msg import PoseStamped, Pose
+import moveit_msgs.msg 
+from moveit_msgs.msg import Grasp, GripperTranslation, PlaceLocation
+from trajectory_msgs.msg import JointTrajectoryPoint
+import geometry_msgs.msg
+from tf import transformations
+from copy import deepcopy
+import tf2_ros
+import tf
+import math
+
+#### Initialise a robotics node
+roscpp_initialize(sys.argv)
+rospy.init_node('picknplace_node', anonymous=True)
+print('Pick n Place Node initialised')
+
+#### MoveIt APIs initialising
+scene = PlanningSceneInterface()
+robot = RobotCommander()
+group_name="panda_arm"
+move_group = MoveGroupCommander(group_name)
+move_group_gripper = MoveGroupCommander("panda_hand")
+
+#### Open and close gripper
+move_group_gripper.set_named_target("close")
+move_group_gripper.go()
+move_group_gripper.set_named_target("open")
+move_group_gripper.go()
+rospy.sleep(5)
+
+
+#### Details
+group_names = robot.get_group_names()
+print('Robot groups available:',group_names)
+planning_frame = move_group.get_planning_frame()
+print('Reference frame:',planning_frame)
+eef_link = move_group.get_end_effector_link()
+print('End effector link:',planning_frame)
+print('Robot current state:',robot.get_current_state())
+rospy.sleep(2)
+
+#### Publisher for publishing the trajectories 
+display_trajectory_publisher = rospy.Publisher("/move_group/display_planned_path", moveit_msgs.msg.DisplayTrajectory, queue_size=20)
+rospy.sleep(2)
+print("Publisher for publishing trajectories created")
+#### Remove any pending objects
+scene.remove_world_object("table1")
+scene.remove_world_object("table2")
+scene.remove_world_object("object1")
+rospy.sleep(5)
+
+print("Removed any pending objects")
+
+
+table_id = 'table'
+box1_id = 'box1'
+box2_id = 'box2'
+target_id = 'target'
+tool_id = 'tool'
+
+table_ground = 0.65       
+table_size = [0.2, 0.7, 0.01]
+box1_size = [0.1, 0.05, 0.05]
+box2_size = [0.05, 0.05, 0.15]       
+target_size = [0.02, 0.01, 0.12]
+
+
+#### Placing objects
+def create_objects():
+	'''
+	table1 = PoseStamped()
+	table1.header.frame_id = planning_frame
+	table1.pose.position.x = 0.5
+	table1.pose.position.y = 0.0
+	table1.pose.position.z = 0.2
+	scene.add_box("table1", table1, (0.2, 0.4, 0.4))
+
+	table2 = PoseStamped()
+	table2.header.frame_id = planning_frame
+	table2.pose.position.x = 0.0
+	table2.pose.position.y = 0.5
+	table2.pose.position.z = 0.2
+	scene.add_box("table2", table2, (0.4, 0.2, 0.4))
+        ''' 	
+
+	table_pose = PoseStamped()
+	table_pose.header.frame_id = planning_frame
+	table_pose.pose.position.x = 0.55
+	table_pose.pose.position.y = 0.1
+	table_pose.pose.position.z = ( table_ground + table_size[2] / 2.0) -0.27
+	table_pose.pose.orientation.w = 1.0
+	scene.add_box(table_id, table_pose, table_size)
+
+	box1_pose = PoseStamped()
+	box1_pose.header.frame_id = planning_frame
+	box1_pose.pose.position.x = 0.55
+	box1_pose.pose.position.y = -0.13
+	box1_pose.pose.position.z =( table_ground + table_size[2] + box1_size[2] / 2.0)  -0.27
+	box1_pose.pose.orientation.w = 1.0   
+	scene.add_box(box1_id, box1_pose, box1_size)
+		
+	box2_pose = PoseStamped()
+	box2_pose.header.frame_id = planning_frame
+	box2_pose.pose.position.x = 0.54
+	box2_pose.pose.position.y = 0.33
+	box2_pose.pose.position.z = (table_ground + table_size[2] + box2_size[2] / 2.0)  -0.27
+	box2_pose.pose.orientation.w = 1.0   
+	scene.add_box(box2_id, box2_pose, box2_size)  
+
+	object1 = PoseStamped()
+	object1.header.frame_id = planning_frame
+	object1.pose.position.x = 0.5
+	object1.pose.position.y = 0.0
+	object1.pose.position.z = 0.5
+	scene.add_box("object1", object1, (0.02, 0.02, 0.2))
+
+	move_group.set_support_surface_name("table1")
+
+
+create_objects()
+rospy.sleep(5)
+
+print("Created objects")
+
+#### Defining a grasp
+grasps=[]
+g = Grasp()
+g.id = "test"
+grasp_pose = PoseStamped()
+grasp_pose.header.frame_id = planning_frame
+grasp_pose.pose.position.x = 0.55
+grasp_pose.pose.position.y = 0.0
+grasp_pose.pose.position.z = 0.5
+tau=math.pi*2
+quaternion = tf.transformations.quaternion_from_euler(-tau / 4, -tau / 8, -tau / 4)
+grasp_pose.pose.orientation.x=quaternion[0]
+grasp_pose.pose.orientation.y=quaternion[1]
+grasp_pose.pose.orientation.z=quaternion[2]
+grasp_pose.pose.orientation.w=quaternion[3]
+g.grasp_pose = grasp_pose
+   
+#### Checking grasp pose
+#move_group.set_pose_target(grasp_pose)
+#move_group.go()
+
+#### Pre-grasp approach
+g.pre_grasp_approach.direction.header.frame_id = planning_frame
+g.pre_grasp_approach.direction.vector.x = 1.0
+g.pre_grasp_approach.min_distance = 0.095
+g.pre_grasp_approach.desired_distance = 0.115
+
+
+#### set the pre-grasp posture
+g.pre_grasp_posture.header.frame_id = planning_frame
+g.pre_grasp_posture.joint_names = ["panda_finger_joint1","panda_finger_joint2"]
+
+pos_open = JointTrajectoryPoint()
+pos_open.positions.append(float(0.04))
+g.pre_grasp_posture.points.append(pos_open)
+#g.pre_grasp_posture.points.append(pos_open)
+
+#### set the post-grasp retreat
+g.post_grasp_retreat.direction.header.frame_id = planning_frame
+g.post_grasp_retreat.direction.vector.z = 1.0
+g.post_grasp_retreat.min_distance = 0.1
+g.post_grasp_retreat.desired_distance = 0.25
+
+#### set the grasp posture
+g.grasp_posture.header.frame_id = planning_frame
+g.grasp_posture.joint_names = ["panda_finger_joint1","panda_finger_joint2"]
+
+pos_close = JointTrajectoryPoint()
+pos_close.positions.append(float(0.00))
+g.grasp_posture.points.append(pos_close)
+#g.grasp_posture.points.append(pos_close)
+
+#### Other grasp setings
+g.allowed_touch_objects = ["object1"]
+
+#### Grasping
+grasps.append(g)
+move_group.pick("object1", grasps)
+
+
+
+
+

00_GettingStarted/docker/i2r/catkin_ws/src/task_2/scripts/place_excercise_v1.py

+#!/usr/bin/env python
+
+#### Task 2
+
+#### Imports
+import sys
+import rospy
+import math
+from moveit_commander import RobotCommander, MoveGroupCommander
+from moveit_commander import PlanningSceneInterface, roscpp_initialize, roscpp_shutdown
+from geometry_msgs.msg import PoseStamped, Pose
+import moveit_msgs.msg 
+from moveit_msgs.msg import Grasp, GripperTranslation, PlaceLocation
+from trajectory_msgs.msg import JointTrajectoryPoint
+import geometry_msgs.msg
+from tf import transformations
+from copy import deepcopy
+#from tf2_ros import Quaternion
+import tf2_ros
+import tf
+import math
+
+tau=2*math.pi
+
+#### Initialise a robotics node
+roscpp_initialize(sys.argv)
+rospy.init_node('picknplace_node', anonymous=True)
+print('Pick n Place Node initialised')
+
+#### MoveIt APIs initialising
+scene = PlanningSceneInterface()
+robot = RobotCommander()
+group_name="panda_arm"
+move_group = MoveGroupCommander(group_name)
+
+
+#### Details
+group_names = robot.get_group_names()
+print('Robot groups available:',group_names)
+planning_frame = move_group.get_planning_frame()
+print('Reference frame:',planning_frame)
+eef_link = move_group.get_end_effector_link()
+print('End effector link:',planning_frame)
+print('Robot current state:',robot.get_current_state())
+rospy.sleep(2)
+
+#### Remove any pending objects
+scene.remove_world_object("table1")
+scene.remove_world_object("table2")
+rospy.sleep(5) 
+
+#### Adding new object
+table2 = PoseStamped()
+table2.header.frame_id = planning_frame
+table2.pose.position.x = 0.0
+table2.pose.position.y = -0.5
+table2.pose.position.z = 0.2
+scene.add_box("table2", table2, (0.4, 0.2, 0.4))
+      	
+
+#### Details
+group_names = robot.get_group_names()
+print('Robot groups available:',group_names)
+planning_frame = move_group.get_planning_frame()
+print('Reference frame:',planning_frame)
+eef_link = move_group.get_end_effector_link()
+print('End effector link:',planning_frame)
+print('Robot current state:',robot.get_current_state())
+rospy.sleep(2)
+
+#### Placing pose definition
+place_pose=PoseStamped()
+place_pose.header.frame_id = planning_frame
+quaternion = tf.transformations.quaternion_from_euler(0, 0, -tau / 4)
+place_pose.pose.position.x = 0
+place_pose.pose.position.y = -0.5
+place_pose.pose.position.z = 0.5
+place_pose.pose.orientation.x=quaternion[0]
+place_pose.pose.orientation.y=quaternion[1]
+place_pose.pose.orientation.z=quaternion[2]
+place_pose.pose.orientation.w=quaternion[3]
+
+#### Checking place pose 
+#move_group.set_pose_target(place_pose)
+#move_group.go()
+
+place_location=PlaceLocation()
+place_location.place_pose.header.frame_id = planning_frame
+place_location.place_pose=place_pose
+
+
+#### Pre-place approach
+place_location.pre_place_approach.direction.header.frame_id =  planning_frame
+place_location.pre_place_approach.direction.vector.z = -1.0
+place_location.pre_place_approach.min_distance = 0.095
+place_location.pre_place_approach.desired_distance = 0.115
+
+
+#### Placing
+move_group.set_support_surface_name("table2")
+move_group.place("object1", place_location)
+
+

00_GettingStarted/docker/i2r/docker-compose.yml

@@ -16,6 +16,9 @@ services:
     ports:
       - "8080:8080"
     environment:
+      # Adjust to your screen size
+      - DISPLAY_WIDTH=1800
+      - DISPLAY_HEIGHT=1050
       - RUN_XTERM=no
 
 volumes: