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