Advanced Manipulation with MoveIt 2

I have generated the motion planning script using moveit_py. This implementation includes the safety initialization, the named pose transition, and a validated Cartesian move with a 10% speed scale for initial testing.

MoveIt 2 Motion Planning Script

import rclpy
from moveit_py.moveit_py_client import MoveItPyClient
from moveit_msgs.msg import CollisionObject
from shape_msgs.msg import SolidPrimitive

def plan_and_execute():
    # Initialize MoveIt PyClient
    robot = MoveItPyClient("moveit_py_client")
    arm = robot.get_planning_component("arm_group")

    # 1. Set Safety Scaling (Start at 10% for hardware validation)
    arm.set_max_velocity_scaling_factor(0.1)
    arm.set_max_acceleration_scaling_factor(0.1)

    # 2. Move to named 'home' pose
    arm.set_start_state_to_current_state()
    arm.set_goal_state(configuration_name="home")
    plan_home = arm.plan()
    if plan_home:
        arm.execute()

    # 3. Plan Cartesian path for grasp (10cm down in Z)
    waypoints = []
    current_pose = arm.get_current_pose().pose
    target_pose = current_pose
    target_pose.position.z -= 0.10  # 10cm approach
    waypoints.append(target_pose)

    cartesian_plan, fraction = arm.compute_cartesian_path(waypoints, 0.01, 0.0)

    if fraction == 1.0:
        arm.execute(cartesian_plan)
    else:
        print("Cartesian path failed or was partially blocked.")

if __name__ == "__main__":
    rclpy.init()
    plan_and_execute()

Next steps

1. Load this script into your ROS 2 workspace and verify the arm_group name matches your SRDF.
2. Run in RViz with fake_components enabled before deploying to the physical controller.
3. Ensure the emergency stop is reachable before executing the Cartesian Z-move.