Exercise 10: MFJA pick and place

Objective

The objective of this exercise is to use the notions explained in the various tutorials in order to plan and execute manipulation motions of increasing complexity.

Instructions

1. In script pick_and_place.py, fill in with the appropriate python code the parts designated by comment #TODO:

2. in a script called pick_and_place_execute_without_actions.py, write the code necessary to execute the planned motion without controlling the gripper. For that, take inspiration from tutorial_7.

3. In a script called pick_and_place_execute_with_actions.py, write the code necessary to execute the planned motion with appropriate control of the gripper. You will need the following methods:

from staubli_io import set_gripper


def open_gripper():
    return set_gripper(node, execution_config, "open")


def close_gripper():
    return set_gripper(node, execution_config, "close")

Run on the Stäubli

After completing the execution scripts above, start ros_server on the CS9 controller from the teach pendant. Check the cell, tool and gear placement with the instructor before running the motion.

The following commands use the HPP/MFJA installation in ~/mfja-gears. Load the same environment and use ROS domain 7 in both terminals. The Stäubli controller IP address is 172.31.0.1.

In terminal 1, start the robot driver and gripper IO:

source "$HOME/mfja-gears/setup.bash"
export ROS_DOMAIN_ID=7
ros2 launch mfja_staubli_manipulation_demos room_315_staubli_hardware.launch.py \
  robot_ip:=172.31.0.1 \
  joint_config:="$MFJA_ROOT/installation/staubli_gears.yaml" \
  enable_io:=true

Keep this terminal running. In terminal 2, enter the exercise directory:

source "$HOME/mfja-gears/setup.bash"
export ROS_DOMAIN_ID=7
cd "$HPP_TUTORIAL_DIR/exercise_10"

For the arm-only exercise, leave the gripper open and empty and remove the gear:

python pick_and_place_execute_without_actions.py

For the pick-and-place exercise with gripper actions, place the gear at gear_plate/placement_1 and leave the gripper empty:

python pick_and_place_execute_with_actions.py