Task:

Note: Before attempting the task make sure you have gone through the learning resources - manipulation of robotic arm.

HINT: It will be handy for you, if you have gone through the learning resources before starting this task. Checkout spawning of UR5 in control ur5 arm page.

• You have to write a single Python script and start the same to move the arm in the order of: P1 → D → P2 → D where position (of tool0 in [x, y, z] format with respect to base_link):

  • P1 (Pick position 1 - front box):   [0.35, 0.1, 0.68]
  • P2 (Pick position 2 - right box):   [0.194, -0.43, 0.701]
  • D (Drop position)           :   [-0.37, 0.12, 0.397]

• You may watch the expected output video recording to clear out any confusion. The arm movement to drop position should be after a pick position, to be considered as valid drop position reach in the submission.

Note:

• Your arm movement can be different as you might be using different algorithm or method for the same.
• You are free to use the servoing method OR let moveit plan (i.e. actuate directly by giving pose or joint angles using move_group action) OR combination of both.

HINT: You are also free to add any intermediate pose to achieve the completion of this task.

Getting Started

• Use ur5_gazebo_launch.py launch file of ur_description package to start gazebo waiting for ur5 spawn.
• Now, start the launch file which you have made during moveit_setup_assistant i.e. spawn_ur5_launch_moveit.launch.py to spawn arm in gazebo as well as in RVIZ to control it using Moveit Planning Interface plugin of Rviz.

Expected Output

You can compare the execution of your python file with UR5 in Gazebo: (Your implementation may look different, as the main aim is to reach the desired given points)

(It might take some time to load the video ;p)

Note: Deadline for the submission of this task is 16th October, 2023