change movement algorithm in move it basics 1

9c6c8647 · Max Maria Humbert · 1ce9f388 · 9c6c8647 · 9c6c8647
Commit 9c6c8647 authored 2 months ago by Max Maria Humbert
--- a/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/move_it/move_it_basics/move_it_basics_1_eval.py
+++ b/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/move_it/move_it_basics/move_it_basics_1_eval.py
@@ -9,7 +9,7 @@ roscpp_initialize(sys.argv)
 rospy.init_node('move_it_basics_1_eval', anonymous=True)

 group = MoveGroupCommander("panda_arm")
-group.set_planner_id("RRTConnectkConfigDefault")
+group.set_planner_id("RRTConnect")
 group.set_num_planning_attempts(10)

 current_joint_values = group.get_current_joint_values()

--- a/catkin_ws/src/learn_environment/task_pool/solution_scripts/move_it/move_it_basics/move_it_basics_1.ipynb
+++ b/catkin_ws/src/learn_environment/task_pool/solution_scripts/move_it/move_it_basics/move_it_basics_1.ipynb
@@ -92,7 +92,7 @@
    "##### DO NOT CHANGE #####\n",
    "\n",
    "group = MoveGroupCommander(\"panda_arm\")\n",
-    "group.set_planner_id(\"RRTConnectkConfigDefault\")\n",
+    "group.set_planner_id(\"RRTConnect\")\n",
    "group.set_num_planning_attempts(10)\n",
    "\n",
    "##### DO NOT CHANGE #####"

 %% Cell type:markdown id: tags:

 # Educational Plattform Panda Robot
 Author: uninh, uqwfa, ultck

 %% Cell type:markdown id: tags:

 ## MoveIt Basics
 ### Task 1

 ---
 > In this task, you will learn ...
 >
 > - ... what MoveIt is.
 > - ... how to use it.

 ---

 %% Cell type:markdown id: tags:

 After mastering the direct method of rotating the Panda robot’s joints using ``ROS``, it’s time to explore an easier approach. For this, we’ll use the ``MoveIt`` package. The ``MoveIt Commander`` Python package provides a straightforward interface for motion planning and Cartesian path computation. MoveIt, as a whole, is a robust framework for motion planning and robot manipulation.

 %% Cell type:markdown id: tags:

 First, we need to import the required modules. We still use ``rospy`` to initialize a``ROS node``. What’s new here are ``MoveGroupCommander``, ``roscpp_initialize``, and ``roscpp_shutdown`` from the ``MoveIt Commander`` package. As the names suggest, ``roscpp_initialize`` is used to initialize, and ``roscpp_shutdown`` to shut down the ``MoveIt Commander`` within the ``ROS system``. The ``MoveGroupCommander``, on the other hand, acts as the core interface for commanding robot motion planning.

 %% Cell type:code id: tags:

 ``` 
 ##### DO NOT CHANGE #####

 import rospy
 import math
 import sys

 from moveit_commander import MoveGroupCommander, roscpp_initialize, roscpp_shutdown

 ##### DO NOT CHANGE #####
 ```

 %% Cell type:markdown id: tags:

 The next step would be initialize roscpp and initialize a ``ROS node``.

 %% Cell type:code id: tags:

 ``` 
 ##### DO NOT CHANGE #####

 roscpp_initialize(sys.argv)
 rospy.init_node('commander', anonymous=True)

 ##### DO NOT CHANGE #####
 ```

 %% Cell type:markdown id: tags:

 Next, we create a ``MoveGroupCommander`` instance. We configure it to use the planning algorithm ``'RRTConnectkConfigDefault'`` and set the number of planning attempts to 10 for better motion planning results.

 %% Cell type:code id: tags:

 ``` 
 ##### DO NOT CHANGE #####

 group = MoveGroupCommander("panda_arm")
-group.set_planner_id("RRTConnectkConfigDefault")
+group.set_planner_id("RRTConnect")
 group.set_num_planning_attempts(10)

 ##### DO NOT CHANGE #####
 ```

 %% Cell type:markdown id: tags:

 Now we can adjust the joint values. To do this, use the ``get_current_joint_values()`` method of the ``MoveGroupCommander`` to retrieve the current joint values, then modify the specific axes you want.

 ToDo:

 - add 50 degrees to the joint4 and store the changed values in the ``joint_goal`` variable

 %% Cell type:code id: tags:

 ``` 
 joint_goal = None

 ##### YOUR CODE HERE #####

 joint_goal = group.get_current_joint_values()
 joint_goal[4] += (50 * math.pi) / 180

 ##### YOUR CODE HERE #####
 ```

 %% Cell type:markdown id: tags:

 We can now set our ``joint_goal`` as the target joint values for the ``MoveGroupCommander`` by using the ``set_joint_value_target()`` method. Once the target is set, execute the movement with the ``go(wait=True)`` method.

 %% Cell type:code id: tags:

 ``` 
 ##### YOUR CODE HERE #####

 group.set_joint_value_target(joint_goal)
 group.go(wait=True)

 ##### YOUR CODE HERE #####
 ```

 %% Cell type:markdown id: tags:

 As always, we clean up by deleting the node and shutting down the MoveIt Commander.

 %% Cell type:code id: tags:

 ``` 
 ##### DO NOT CHANGE #####

 rospy.signal_shutdown("Task completed")
 roscpp_shutdown()

 ##### DO NOT CHANGE #####
 ```