Move Group Sequence

Plan and execute sequences of LIN, PTP and CIRC motions on industrial manipulators.

Based on pilz_robot_programming but adapted to work with any manipulator with a moveit configuration. This requires the Pilz Industrial Motion Planner to be installed.

Import ^^^

from move_group_sequence import MoveGroupSequence, Ptp, Lin, Circ
from geometry_msgs.msg import Point, Pose
from moveit_commander import MoveGroupCommander

PLANNING_GROUP = "manipulator"
move_group = MoveGroupCommander(PLANNING_GROUP)
sequencer = MoveGroupSequence(move_group)

Plan and execute

sequencer.plan(Ptp(goal=[0, 0.5, 0.5, 0, 0, 0]))
sequencer.execute()

sequencer.plan(Lin(goal=Pose(position=Point(0.2, 0, 0.8))))
sequencer.execute()

sequencer.plan(Ptp(goal=Pose(position=Point(0.2, 0, 0.8))))
sequencer.execute()

sequencer.plan(Circ(goal=Pose(position=Point(0.2, 0.2, 0.8)), center=Point(0.3, 0.1, 0.8)))
sequencer.execute()

Relative commands

sequencer.plan(Ptp(goal=[0.1, 0, 0, 0, 0, 0], relative=True))

sequencer.plan(Lin(goal=Pose(position=Point(0, -0.2, -0.2)), relative=True))

:py:class:`.Ptp` and :py:class:`.Lin` commands can also be stated as relative commands indicated by the argument relative=True. Relative commands state the goal as offset relative to the current robot position. As long as no custom reference frame is set, the offset has to be stated with regard to the base coordinate system. The orientation is added as offset to the euler-angles.

Sequence

sequence = Sequence()
sequence.append(Lin(goal=Pose(position=Point(0.2, 0, 0.8)), vel_scale=0.1, acc_scale=0.1))
sequence.append(Circ(goal=Pose(position=Point(0.2, -0.2, 0.8)), center=Point(0.1, -0.1, 0.8), acc_scale=0.4))
sequence.append(Ptp(goal=pose_after_relative, vel_scale=0.2))

sequencer.plan(sequence)

More examples can be adapted from the pilz_robot_programming repository.