Pick and Place

Prepare Reachy workspace

With all motors compliant try if you can realise the task you would like the robot to do. We will realise most of the recordings using physical demonstration.

Choose a good starting point

Define a resting position

Rest between motions. Real rest position (even turn the motor compliant if possible).

The rest position should not force! Static forcing is how the motors heat the fastest.

Record a trajectory

from reachy.trajectory import TrajectoryRecorder

traj_recorder = TrajectoryRecorder(reachy.right_arm.motors)

Compensating gravity

Record the pick trajectory

traj_recorder.start()

traj_recorder.stop()

import numpy as np

pick_traj = traj_recorder.trajectories
np.savez('pick-traj.npz', **pick_traj)

Record the place trajectory

traj_recorder.start()

traj_recorder.stop()

import numpy as np

place_traj = traj_recorder.trajectories
np.savez('place-traj.npz', **place_traj)

Record the back trajectory

traj_recorder.start()

traj_recorder.stop()

import numpy as np

back_traj = traj_recorder.trajectories
np.savez('back-traj.npz', **back_traj)

Putting everything together

from reachy.trajectory import TrajectoryPlayer

goto_base_position(duration=2)

TrajectoryPlayer(reachy, pick_traj).play(wait=True)

reachy.right_arm.hand.close()

TrajectoryPlayer(reachy, place_traj).play(wait=True)

reachy.right_arm.hand.open()

TrajectoryPlayer(reachy, back_traj).play(wait=True)

goto_resting_position(duration=2)