Creating Grasp Table and Grasp Object in MoveIt!

We have to create a table and a grasp object similar to the robot environment. Here we are creating a table almost the same as in the gazebo simulation. If the table size and the pose of gazebo and MoveIt! are same, we can set the position of the grasping object:

    def _add_table(self, name):        p = PoseStamped()        p.header.frame_id = self._robot.get_planning_frame()        p.header.stamp =        #Table position        p.pose.position.x = 0.45        p.pose.position.y = 0.0        p.pose.position.z = 0.22        q = quaternion_from_euler(0.0, 0.0, numpy.deg2rad(90.0))        p.pose.orientation = Quaternion(*q)        # Table size from ~/.gazebo/models/grasp_table/model.sdf, using the values        # for the surface link. self._scene.add_box(name, ...

Get ROS Programming: Building Powerful Robots now with the O’Reilly learning platform.

O’Reilly members experience books, live events, courses curated by job role, and more from O’Reilly and nearly 200 top publishers.