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Once the object is grasped, the robot will lift it up. The robot first start executing the planned pick trajectory controlling the torso lift joint and the 7 degrees of freedom of the arm. If the selected plan is good enough the next execution steps will be as follows.
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Note that at each execution the selected plan will differ due to the random nature of the motion planners in MoveIt!. The different computed grasps are shown in the figure above as small red arrows, which represent the target pose of the frame /arm_tool_link suitable to perform a grasp.Īn example of execution is shown in the following video: Once the planning scene is set up MoveIt! will plan multiple grasps and select the most suitable one. The object model will be added to the MoveIt! planning scene as well as a large box just below the object in order to represent the table. Once the marker is detected the geometry of the object will be reconstructed provided that the box dimensions are known beforehand.
ROBOTSTUDIO PICK AND PLACE TUTORIAL UPDATE
If you have rendering problems to show the marker on rviz please update your graphics driver. At this point, the ArUco marker will be detected and its estimated pose will be shown in rviz. The torso of TIAGo will raise and the head will lower in order to look at the table. This service will cause /pick_client node to first move TIAGo to a suitable pose to detect the object and to perform grasping. Rviz will also show up to help the user visualize the different steps involved in the demo.įinally, in the third console the following service will be called in order to start the execution of the demo rviz: in order to visualize all the steps involved in the demo. Then it waits until the object marker is detected and its pose is retrieved in order to send a goal to the /pick_and_place_server. pick_client: node that prepares the robot for the object detection and the pick and place operations: raises the arm to a safe pose and lowers the head to look at the table. pick_and_place_server: node in charge of defining the planning scene, request pick and plans with MoveIt! and execute them. aruco_single: ArUco marker detector node Roslaunch tiago_pick_demo pick_demo.launch In the second console, run the following instruction Then you may proceed with the next steps. Gazebo will show up with TIAGo in front of a table and the object with the ArUco marker on its top. Roslaunch tiago_pick_demo pick_simulation.launch In the first console launch the following simulation Then, MoveIt! is used in order to plan a pick trajectory to grasp the object, which is then lifted up and finally a place trajectory is planned to restore the object in its former position.įirst make sure that the tutorials are properly installed along with the TIAGo simulation, as shown in the Tutorials Installation Section.įirst open three consoles and source the public simulation workspace as follows: The robot then locates the object in the RGB of its camera and reconstructs its 3D pose. A simulation environment comprising a table and a box with an ArUco marker is defined. The purpose of this tutorials is to provide an example of grasping with TIAGo.