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Panda Grasping Package

Allows to pick and place objects. The current maximum height, where the panda can grip (from above) ist 50cm. This package uses the old pick-and-place pipeline of MoveIt.

How to install

  • cd into the src-folder of your workspace
  • clone this package
  • catkin build & source the workspace
  • that's it

How to use

  • u can start the configurable pick and place with: roslaunch panda_grasping simulation.launch
    • to pick or place open a second console
    • to pick type for example: rosservice call panda_grasping/PickObjectService '{pose: {position: {x: 0.5, y: 0.0, z: 0.2}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}, dimensions: {x: 0.02, y: 0.02, z: 0.2}}'
    • to place type for example rosservice call panda_grasping/PlaceObjectService '{pose: {position: {x: 0.0, y: 0.5, z: 0.2}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}, dimensions: {x: 0.02, y: 0.02, z: 0.2}}'
    • inside of the message u can update orientation (currenly only z is supported), position and size of the object to pick or place