Move to end-effector poses

Move to individual end-effector poses, then follow a sequence of poses in a square.

With avoid_obstacles=False, the planner computes a direct point-to-point trajectory and fails if that trajectory collides with the planning scene.

Set avoid_obstacles=True to search for a collision-free path around obstacles instead. This search may take longer and produce a less direct trajectory.

Python

from olo import Client
from olo.spatial import Point, Pose

POSE_OFFSET = 0.1

with Client() as client:
    robot = client.robot()
    arm = robot.kinematics

    # Read the current end-effector pose.
    start = arm.pose()

    # Move along the x-axis without obstacle avoidance.
    target = Pose(
        position=Point(
            x=start.position.x + POSE_OFFSET,
            y=start.position.y,
            z=start.position.z,
        ),
        orientation=start.orientation,
    )
    arm.move_pose(target, avoid_obstacles=False)

    # Move along the y-axis with obstacle avoidance.
    target = Pose(
        position=Point(
            x=start.position.x + POSE_OFFSET,
            y=start.position.y + POSE_OFFSET,
            z=start.position.z,
        ),
        orientation=start.orientation,
    )
    arm.move_pose(target, avoid_obstacles=True)

    # Follow a pose sequence in a square.
    poses = (
        Pose(
            position=Point(
                x=start.position.x + POSE_OFFSET,
                y=start.position.y + POSE_OFFSET,
                z=start.position.z + POSE_OFFSET,
            ),
            orientation=start.orientation,
        ),
        Pose(
            position=Point(
                x=start.position.x + POSE_OFFSET,
                y=start.position.y,
                z=start.position.z + POSE_OFFSET,
            ),
            orientation=start.orientation,
        ),
        Pose(
            position=Point(
                x=start.position.x + POSE_OFFSET,
                y=start.position.y,
                z=start.position.z,
            ),
            orientation=start.orientation,
        ),
    )
    arm.move_pose_sequence(poses)

    # Return to the starting pose.
    arm.move_pose(start)

TypeScript

import { Point, Pose } from "olo/spatial";
import { connect } from "olo/web";

const POSE_OFFSET = 0.1;

const client = connect();
const robot = await client.robot();
const arm = robot.kinematics;

// Read the current end-effector pose.
const start = await arm.pose();

// Move along the x-axis without obstacle avoidance.
let target = new Pose(
  new Point(start.position.x + POSE_OFFSET, start.position.y, start.position.z),
  start.orientation,
);
await arm.movePose(target, { avoidObstacles: false });

// Move along the y-axis with obstacle avoidance.
target = new Pose(
  new Point(
    start.position.x + POSE_OFFSET,
    start.position.y + POSE_OFFSET,
    start.position.z,
  ),
  start.orientation,
);
await arm.movePose(target, { avoidObstacles: true });

// Follow a pose sequence in a square.
const poses = [
  new Pose(
    new Point(
      start.position.x + POSE_OFFSET,
      start.position.y + POSE_OFFSET,
      start.position.z + POSE_OFFSET,
    ),
    start.orientation,
  ),
  new Pose(
    new Point(
      start.position.x + POSE_OFFSET,
      start.position.y,
      start.position.z + POSE_OFFSET,
    ),
    start.orientation,
  ),
  new Pose(
    new Point(
      start.position.x + POSE_OFFSET,
      start.position.y,
      start.position.z,
    ),
    start.orientation,
  ),
];
await arm.movePoseSequence(poses);

// Return to the starting pose.
await arm.movePose(start);