add move_it_basics task 1

catkin_ws/src/learn_environment/task_pool/evaluation_scripts/move_it/move_it_basics/move_it_basics_1_eval.py

+import rospy
+import math
+import sys
+
+from moveit_commander import MoveGroupCommander, roscpp_initialize, roscpp_shutdown
+
+
+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_num_planning_attempts(10)
+
+current_joint_values = group.get_current_joint_values()
+
+expected_values = [0, -math.pi/4, 0, -math.pi *3/4, math.pi * 50/180, math.pi/2, math.pi/4]
+
+error_margin = 0.01
+
+for i, (current, expected) in enumerate(zip(current_joint_values, expected_values)):
+    if abs(current - expected) > error_margin:
+        
+        roscpp_shutdown()
+        print("false, Joint {} is not in the correct position".format(i))
+        sys.exit(0)
+
+roscpp_shutdown()
+
+print("true")

catkin_ws/src/learn_environment/task_pool/solution_scripts/move_it/move_it_basics/move_it_basics_1.ipynb

+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Educational Plattform Panda Robot\n",
+    "Author: uninh, uqwfa, ultck"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## MoveIt Basics\n",
+    "### Task 1\n",
+    "\n",
+    "---\n",
+    "> In this task, you will learn ...\n",
+    ">\n",
+    "> - ... what MoveIt is.\n",
+    "> - ... how to use it.\n",
+    "\n",
+    "---"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "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",
+   "metadata": {},
+   "source": [
+    "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",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "##### DO NOT CHANGE #####\n",
+    "\n",
+    "import rospy\n",
+    "import math\n",
+    "import sys\n",
+    "\n",
+    "from moveit_commander import MoveGroupCommander, roscpp_initialize, roscpp_shutdown\n",
+    "\n",
+    "##### DO NOT CHANGE #####"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "The next step would be initialize roscpp and initialize a ``ROS node``."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "##### DO NOT CHANGE #####\n",
+    "\n",
+    "roscpp_initialize(sys.argv)\n",
+    "rospy.init_node('commander', anonymous=True)\n",
+    "\n",
+    "##### DO NOT CHANGE #####"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "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",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "##### DO NOT CHANGE #####\n",
+    "\n",
+    "group = MoveGroupCommander(\"panda_arm\")\n",
+    "group.set_planner_id(\"RRTConnectkConfigDefault\")\n",
+    "group.set_num_planning_attempts(10)\n",
+    "\n",
+    "##### DO NOT CHANGE #####"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "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.\n",
+    "\n",
+    "ToDo:\n",
+    "\n",
+    "- add 50 degrees to the joint4 and store the changed values in the ``joint_goal`` variable"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "joint_goal = None\n",
+    "\n",
+    "##### YOUR CODE HERE #####\n",
+    "\n",
+    "joint_goal = group.get_current_joint_values()\n",
+    "joint_goal[4] += (50 * math.pi) / 180\n",
+    "\n",
+    "##### YOUR CODE HERE #####"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "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",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "##### YOUR CODE HERE #####\n",
+    "\n",
+    "group.set_joint_value_target(joint_goal)\n",
+    "group.go(wait=True)\n",
+    "\n",
+    "##### YOUR CODE HERE #####"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "As always, we clean up by deleting the node and shutting down the MoveIt Commander."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "##### DO NOT CHANGE #####\n",
+    "\n",
+    "rospy.signal_shutdown(\"Task completed\")\n",
+    "roscpp_shutdown()\n",
+    "\n",
+    "##### DO NOT CHANGE #####"
+   ]
+  }
+ ],
+ "metadata": {
+  "language_info": {
+   "name": "python"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}