WEBVTT 00:00.050 --> 00:04.310 At this point, movie two is configured and also supports our robot. 00:04.310 --> 00:10.310 So now we can finally start using its amazing features to move the robots and the vector from the starting 00:10.310 --> 00:11.720 point to the end point. 00:11.720 --> 00:17.720 And so to plan and execute trajectories to launch this software with the configuration that we have 00:17.720 --> 00:24.530 created in the previous lesson, we need to create a new launch file inside the Arduino Moveit package 00:24.530 --> 00:26.900 that we create in the last lesson. 00:26.900 --> 00:30.890 So let's create a new folder and let's call this one launch. 00:30.920 --> 00:38.990 And within this folder let's create a new file called move it dot launch dot pi. 00:39.050 --> 00:46.520 As this is a launch file and a Python file, its purpose is to create an object of type launch description. 00:46.520 --> 00:54.710 So let's import from the launch library the launch description class. 00:54.920 --> 01:01.290 And let's define a new function called generate Launch. 01:03.390 --> 01:10.230 Description and the purpose of this function is to declare a list of instructions that needs to be executed 01:10.230 --> 01:11.790 when we start this launch file. 01:11.790 --> 01:18.150 So when we start the application and all these instructions needs to be listed within the constructor 01:18.510 --> 01:21.600 of the launch description class. 01:21.600 --> 01:23.580 So let's call the constructor. 01:23.610 --> 01:29.670 And this receives a list of instructions or a list of application that needs to be executed. 01:30.660 --> 01:34.560 Let's start by declaring a new argument for this launch file. 01:34.560 --> 01:35.730 So here. 01:35.760 --> 01:39.480 And so let's first import the declare launch argument. 01:39.870 --> 01:51.210 So from the launch library and from the actions module let's import the declare launch argument. 01:51.210 --> 01:53.610 And now let's use this one to create a new object. 01:53.610 --> 01:57.510 Let's call it is sim arg. 01:57.510 --> 01:59.700 So is sim argument. 01:59.770 --> 02:03.580 And this is an instance of the declare launch argument. 02:04.180 --> 02:12.070 Let's use this class to declare the argument is same, which indicates whether or not we are starting 02:12.070 --> 02:17.260 the moveit functionalities for the simulation and gazebo, or for the real robot. 02:17.830 --> 02:19.540 And so let's set by default. 02:19.570 --> 02:24.790 So let's set the default value to true. 02:24.790 --> 02:29.500 And this means that basically by default we are saying that we are starting the simulation. 02:29.500 --> 02:32.410 So we are starting move it for the simulated robot. 02:33.190 --> 02:36.760 Let's also import the launch configuration class. 02:37.090 --> 02:47.140 So from launch substitutions let's import the launch configuration class. 02:47.140 --> 02:51.850 And let's use it to create a new variable called is SIM. 02:51.850 --> 02:55.180 And this is an instance of the launch configuration class. 02:55.180 --> 02:58.270 And this contains the value that we assign at runtime. 02:58.270 --> 03:02.370 So when we start the launch file to the argument is same. 03:02.460 --> 03:09.330 And so this takes the value that we assigned to the is same argument at runtime. 03:09.330 --> 03:13.140 So when we start the launch file now we can finally start to move it. 03:13.170 --> 03:16.680 But before that we need to create its configuration. 03:16.680 --> 03:22.080 So we need to basically to declare this configuration file based on the file that we created in the 03:22.080 --> 03:23.250 previous lesson. 03:23.430 --> 03:31.500 So in order to create a moved configuration let's import from the move it config util package. 03:31.830 --> 03:35.340 Let's import the move it config builder. 03:35.340 --> 03:40.710 So let's import this class here and let's use it to create a new object of this class. 03:40.770 --> 03:46.290 Let's call it for example move it config. 03:46.290 --> 03:49.560 And this is an instance of the move it config builder. 03:49.560 --> 03:54.360 And we can use this object to customize the move it launch file for our robot. 03:54.570 --> 03:59.040 So let's start by assigning the name of our robot, which is. 04:00.220 --> 04:06.160 Arduino bot, and also the name of the package that contains the Moveit configuration for our robot. 04:06.250 --> 04:11.230 So let's use a comma and then the package name. 04:11.860 --> 04:19.090 So the one that contains the Moveit configuration is the Arduino bot move it package. 04:19.120 --> 04:24.850 And also now we need to specify where is located the Urdf model of our robot. 04:25.000 --> 04:26.740 So let's use Dot. 04:27.250 --> 04:30.160 And then let's set the robot description. 04:30.190 --> 04:34.990 So now we need to set the path to the Urdf model of our robot. 04:34.990 --> 04:36.670 So where it is located. 04:36.670 --> 04:44.140 And so to declare the path where the Urdf model is located, let's start by importing the OS library 04:44.140 --> 04:45.040 of Python. 04:45.040 --> 04:49.150 And then let's set the file path. 04:49.330 --> 04:52.210 Let's take the OS path. 04:52.300 --> 04:54.430 So let's take the join function. 04:55.840 --> 04:59.000 And now we need to specify where is located. 04:59.000 --> 05:01.880 So in which package we can find our robot description. 05:01.880 --> 05:04.070 So our Urdf model. 05:04.310 --> 05:15.050 So in order to specify the package let's import from the amend index Python library and from the packages 05:15.050 --> 05:22.070 module let's import the get package share directory. 05:22.070 --> 05:25.040 And now let's use this function here within the parentheses. 05:25.040 --> 05:27.740 So get package share directory. 05:27.800 --> 05:37.610 And the Urdf model of our robot is in the Arduino bot description package. 05:37.730 --> 05:40.580 Let's make this in a new line. 05:40.760 --> 05:44.480 And also let's add some parentheses here. 05:45.650 --> 05:47.630 And let's close this one okay. 05:47.630 --> 05:49.700 So now we can read it better. 05:50.510 --> 05:52.460 So let's adjust the formatting. 05:52.460 --> 05:53.360 Perfect. 05:53.480 --> 06:00.360 So now we said that our Urdf model of the robot was in the Arduino bot description package. 06:00.720 --> 06:12.810 Then it's within the Urdf folder and then it's called Arduino bot dot Urdf dot zero. 06:13.230 --> 06:20.070 Then we also need to declare the directory where the SDF file with the robot description semantics is 06:20.070 --> 06:20.910 located. 06:20.910 --> 06:25.470 So basically this file here that we created in the previous lesson. 06:26.310 --> 06:28.470 To do so let's add also. 06:28.470 --> 06:34.440 So here at the end of this file let's add the robot description semantic. 06:34.440 --> 06:41.130 So with the robot description we set for the movie config builder the directory of our Urdf model. 06:41.130 --> 06:47.490 And now with robot description semantic we set the directory of our SDF file. 06:48.060 --> 06:49.110 We can do the same. 06:49.110 --> 06:53.340 So we can still use the Os.path.join function. 06:53.340 --> 06:56.910 And in this case we can access to the file path. 06:56.910 --> 07:06.250 So to the file which contains the RDF directly accessing to the config folder and to the Arduino bot 07:06.280 --> 07:08.560 dot s RDF. 07:08.560 --> 07:13.930 Since basically this file is in the same package in which we are creating the launch file. 07:14.590 --> 07:23.230 Next, let's also configure the robot's execution of the trajectories with the trajectory execution, 07:23.230 --> 07:30.550 and we configured the trajectory execution of the robot within the Moveit controllers YAML file. 07:30.580 --> 07:42.010 So again the file path is in the config folder and is called move it controllers dot YAML. 07:42.010 --> 07:46.510 So it is going to use this YAML file to configure the trajectory execution. 07:47.200 --> 07:50.740 Finally let's take the configuration from this class. 07:50.740 --> 07:57.310 So from this Moveit configuration builder object that we have created in order to configure move it. 07:57.330 --> 08:01.230 So let's use the function to move it. 08:01.260 --> 08:02.280 Configuration. 08:02.280 --> 08:04.950 And so basically this will convert this object. 08:04.950 --> 08:10.950 So the object of this class into a configuration that we can provide directly to the move it to node 08:10.950 --> 08:13.140 and so directly to the executable. 08:13.140 --> 08:15.210 So let's start move it. 08:15.210 --> 08:17.400 So let's start the move it executable. 08:17.520 --> 08:21.780 And first let's import from launch Ros. 08:22.080 --> 08:27.900 And from the actions module let's import the node module. 08:28.110 --> 08:31.980 And now we can start the core of move it. 08:31.980 --> 08:38.520 So the move group node of move it as a new empty node. 08:38.520 --> 08:42.420 And so this node starts from the package. 08:43.470 --> 08:45.870 Move it Ros move group. 08:45.870 --> 08:51.810 So from move it Ros move group. 08:51.810 --> 08:57.060 From this package it starts the executable that is called. 08:57.580 --> 08:59.470 move group. 08:59.470 --> 09:03.610 And as you remember, this is the core of the move with two functionalities. 09:03.640 --> 09:05.920 Then let's also display the output. 09:05.920 --> 09:09.460 So any log message that basically this node will print. 09:09.490 --> 09:12.580 Let's display all of these messages in the terminal. 09:12.610 --> 09:17.860 By setting output to screen. 09:17.950 --> 09:21.490 And then let's configure and pass some parameters. 09:21.820 --> 09:24.070 So let's pass some parameters. 09:24.070 --> 09:30.130 And these parameters are exactly the configuration parameters of move it that we have just created with 09:30.130 --> 09:31.990 the move it configuration builder. 09:31.990 --> 09:34.330 And that we have stored in the move it. 09:34.360 --> 09:39.220 So this here we are missing an E in the move it config variable. 09:39.340 --> 09:44.620 So let's copy this variable and let's paste it within the parameters. 09:45.040 --> 09:47.950 And let's take a dictionary. 09:48.970 --> 09:52.660 And then let's also set another parameter which is the parameter. 09:52.660 --> 09:55.690 Use same time. 09:56.020 --> 09:59.990 And let's set this one equal to the value is sim. 09:59.990 --> 10:06.200 So basically equal to the value that is assigned to the sim argument of the launch file. 10:06.200 --> 10:11.630 So basically if when we start this launch file we pass the argument is sim and we set it to true. 10:11.660 --> 10:16.340 Then the use sim time of the move group will be set to true as well. 10:16.370 --> 10:18.950 Otherwise it will be set to false. 10:19.490 --> 10:22.790 Let's also set one more parameter as another dictionary. 10:23.030 --> 10:29.270 And this is the publish robot description 10:31.100 --> 10:32.360 semantic. 10:32.360 --> 10:35.900 And let's set this one to true as well. 10:35.900 --> 10:41.990 And this basically will allow us the name of this parameter says this will allow to publish in our Ros2 10:42.020 --> 10:42.500 topic. 10:42.500 --> 10:43.880 Also this here. 10:43.880 --> 10:50.330 So also this configuration here that is the SDF file that we created in the previous lesson. 10:51.290 --> 10:54.110 Let's also provide some more arguments to this node. 10:54.170 --> 10:57.090 So let's use Arguments. 10:57.570 --> 11:00.210 And then let's pass the Ross arguments. 11:00.210 --> 11:07.770 So Ross args and let's set for example the Loglevel flag to info. 11:08.400 --> 11:18.210 So let's set the log level to be info so that all the informative messages that this node. 11:18.210 --> 11:22.920 So the move group node is printing are displayed correctly in the window. 11:22.920 --> 11:25.080 So are displayed correctly in the terminal. 11:25.890 --> 11:28.770 Next we can finally start also RVs. 11:28.770 --> 11:32.340 And we can do this as a normal ros2 node. 11:32.340 --> 11:35.370 So let's call this one RVs node. 11:35.460 --> 11:38.280 And this is an instance of the node class. 11:38.610 --> 11:49.890 And from the package that is called RVs two let's start the executable that is also called RVs two and 11:49.890 --> 11:50.670 let's call it. 11:50.670 --> 11:55.870 So let's give it a name that we call RVs two as well. 11:55.930 --> 12:01.390 Let's set also the output argument to be screen. 12:01.390 --> 12:04.840 In order for the log messages to be printed in the terminal. 12:04.840 --> 12:14.380 And then let's pass some more arguments to this log file, and let's use the flag minus d to to visualize 12:14.380 --> 12:15.040 by default. 12:15.040 --> 12:18.400 So when we start out with a predefined configuration. 12:18.400 --> 12:26.410 So instead of loading the empty service window it will load a Pre-created and a predefined service configuration. 12:26.410 --> 12:34.840 And so let's for example store this one within a new variable that we are going to call RV config. 12:34.840 --> 12:42.760 So now let's create this variable before using it actually here and here let's indicate the full path 12:42.760 --> 12:47.680 of the RV configuration that we want to launch at the startup of this node. 12:47.680 --> 12:53.860 So again let's use the function join from the US path library. 12:53.860 --> 12:57.120 And here let's use the Get Package share directory. 12:57.120 --> 13:03.660 In order to access to the directory of the Arduino bot move it package. 13:03.660 --> 13:07.830 So here there is a mistake Arduino bot move it package. 13:07.830 --> 13:13.680 And then within this package let's access to the config folder. 13:13.680 --> 13:18.930 And then within this config folder we want our service to be loaded with the configuration. 13:19.350 --> 13:21.750 Move it dot RVs. 13:22.230 --> 13:23.280 For this moment. 13:23.280 --> 13:25.440 This configuration is not yet created. 13:25.440 --> 13:31.590 So as we can see there is no such configuration that is called movie dot RVs in the config folder. 13:31.590 --> 13:38.040 And so at the startup, at the first startup of all these functionalities, we will see the classic 13:38.070 --> 13:39.750 empty window of RVs. 13:39.780 --> 13:45.510 And then we will save the configuration and we will save the configuration of service under the name 13:45.510 --> 13:50.760 of move it service, so that every time you are going to launch again this node in the future, you 13:50.760 --> 13:57.040 will start by using by default, this visualization instead of adding all the plugins one by one. 13:58.240 --> 14:00.730 Then let's continue the setup of the Arviz node. 14:00.730 --> 14:02.950 So here let's pass some parameters. 14:03.790 --> 14:05.200 So this is a list. 14:05.230 --> 14:10.330 And from the move it configuration that is from the move it config object. 14:10.330 --> 14:11.320 From this one. 14:11.320 --> 14:13.930 Let's pass the robot description. 14:13.930 --> 14:19.480 So here let's take this parameter and let's pass the robot description. 14:19.480 --> 14:21.190 So let's take the robot description. 14:21.190 --> 14:24.850 And also let's take the steel from the move it config. 14:24.850 --> 14:27.640 Let's take the robot description semantic. 14:27.640 --> 14:35.440 And so basically the file as RDF and also as a parameter still from the movie config. 14:35.440 --> 14:41.440 Let's take the robot description kinematics and also the joint limits. 14:41.740 --> 14:44.800 So let's take the joint limits. 14:45.730 --> 14:51.520 All of these configuration parameters that we are passing to Arviz are needed when we start RVs. 14:51.520 --> 14:56.480 And when we display the move, it to interface that is available in RVs. 14:56.930 --> 15:03.170 Now with this set, we have declared all the components that we need to start in order to use it with 15:03.170 --> 15:04.070 our robot. 15:04.070 --> 15:08.120 So all that it remains is to declare all these components. 15:08.120 --> 15:13.640 So to list all of these components here within the launch description constructor. 15:13.640 --> 15:17.720 So let's start by declaring the is sim argument. 15:17.720 --> 15:20.270 And this will be an argument of this launch file. 15:20.270 --> 15:22.610 So you can start this launch file. 15:22.640 --> 15:28.310 Setting this argument to true or false depending on whether you are starting to move it for the real 15:28.310 --> 15:30.290 robot or for the simulated one. 15:30.530 --> 15:34.670 Then let's start the move group node that is the core of move it. 15:34.670 --> 15:41.060 And then let's also start the RVs node that will allow us to interact with the graphical user interface 15:41.060 --> 15:44.600 with move it before moving on. 15:44.600 --> 15:51.740 So let's save this launch file and then let's go into the Cmakelists.txt in order to install. 15:51.740 --> 15:53.210 Also the launch folder. 15:53.210 --> 15:59.460 So in order to install the config and the launch folder and so that they these two folders are recognized 15:59.460 --> 16:00.660 in Ros2. 16:01.050 --> 16:07.350 So here before the build testing let's use a new install instruction. 16:07.350 --> 16:15.720 And let's install the directory launch and also the directory config. 16:15.720 --> 16:18.480 And then now we need to set the destination. 16:18.510 --> 16:25.470 So the destination in which we want to install these two folders is the share folder. 16:25.470 --> 16:28.620 And then the subfolder that has the same name of the package. 16:28.620 --> 16:30.630 So Arduino bot move it. 16:30.960 --> 16:37.170 And we can access to this name through the project name variable. 16:37.170 --> 16:39.210 So let's use the project name variable. 16:39.240 --> 16:46.320 Let's save this file and let's finally modify also the package dot XML file in order to add the missing 16:46.320 --> 16:47.340 dependencies. 16:47.520 --> 16:54.340 So here let's add an execution dependency from the Ros2 launch library since we have created our launch 16:54.340 --> 16:59.590 file, then another execution dependency from harvest two. 16:59.620 --> 17:09.130 Since in our launch file, we started harvest two and then another execution dependency from the move 17:09.130 --> 17:16.450 it config utils from which we have used the move it config builder. 17:16.570 --> 17:20.440 So now also the package dot XML is completed. 17:20.440 --> 17:24.970 And now we can finally build our workspace and launch this file. 17:25.630 --> 17:28.870 So let's open a new window of the terminal here. 17:28.870 --> 17:33.850 Let's go to the workspace and let's build it with Qualcomm Build. 17:33.850 --> 17:37.660 So this is compiling our Arduino bot move it package. 17:37.660 --> 17:41.080 And so it's installing the launch file that we have created. 17:41.080 --> 17:44.500 And also all the configuration files that we have created. 17:44.590 --> 17:48.370 And then we can finally start the simulation of our robot. 17:48.370 --> 17:57.450 So in a new terminal let's source the file setup bash and let's launch from the Arduino bot description 17:57.450 --> 18:00.360 package, the gazebo launch dot Pi. 18:00.390 --> 18:04.950 So this is launching the simulation of our robot in the empty environment. 18:05.520 --> 18:06.150 Here we go. 18:06.150 --> 18:11.850 And this is also loading the Ros2 control library for the simulated robot. 18:11.850 --> 18:18.330 And so basically we will be able to use this library in order to interact with the simulated motors. 18:18.330 --> 18:21.480 So with the simulated actuators in the gazebo simulation. 18:21.480 --> 18:27.810 And so to move our robot here in the simulated environment, in order to do so we also need to start 18:27.810 --> 18:29.550 the control system of the robot. 18:29.550 --> 18:37.650 So in a new terminal again let's source the workspace and let's launch with Ros2 launch and this time 18:37.650 --> 18:39.270 from the Arduino bot controller. 18:39.270 --> 18:42.240 Let's start the controller launch dot Pi. 18:42.360 --> 18:44.070 So let's press enter. 18:44.070 --> 18:47.190 So this is starting the control system of the robot. 18:47.190 --> 18:51.690 And also we have here the configuration that we have correctly configured. 18:51.720 --> 18:55.960 And activated both the ARM controller and also the gripper controller. 18:55.990 --> 18:58.090 And so finally everything is set. 18:58.120 --> 19:04.120 In order to start, move it and in fact move it will use actually these two controllers. 19:04.120 --> 19:08.590 So the gripper controller and the ARM controller in order to send commands. 19:08.590 --> 19:13.690 And so in order to move the robot from the current position to the desired one. 19:13.840 --> 19:15.940 So let's finally start to move it. 19:15.940 --> 19:23.020 So again in a new window, let's source the file setup and let's launch with Ros2. 19:23.020 --> 19:24.820 Launch from the Arduino board. 19:24.850 --> 19:25.840 Move it package. 19:25.840 --> 19:30.460 Let's start the launch file that is called move it launch dot Pi. 19:30.460 --> 19:32.260 So let's press enter. 19:33.310 --> 19:38.200 And now it is apart from starting all the move it functionalities and the configuration that we have 19:38.200 --> 19:41.800 set, it also starts the service window. 19:41.800 --> 19:48.070 And so as we can see here this is just an empty window that now we can configure in order to interact 19:48.070 --> 19:48.880 with the robot. 19:48.880 --> 19:51.910 And so in order to set the desired pose of the robot. 19:51.910 --> 19:55.730 And so to move the robot from the current pose to the desired one. 19:55.850 --> 20:01.550 To do so, the first thing that we need to do is to change the fixed frame to the world frame. 20:01.550 --> 20:06.830 So this is the starting frame that Moovit is using in order to link our robot. 20:06.830 --> 20:10.520 So this one here to the world, so to the empty world for the moment. 20:10.520 --> 20:18.440 And then we can also add from the movie cross visualization this one here the motion planning plugin. 20:18.440 --> 20:19.760 So let's add it. 20:21.890 --> 20:25.460 And this is adding quite a lot of information. 20:25.460 --> 20:31.010 So we can see that we have now here a new panel that we can use in order to interact with the robot. 20:31.010 --> 20:36.980 And also here we can already see that our robot is being displayed in the service window. 20:36.980 --> 20:39.860 So this is the model of our robot in its current position. 20:39.860 --> 20:42.680 So as we can see they perfectly match. 20:42.680 --> 20:48.290 And also we can see that here we have a sphere that is attached to the arm of the robot that we can 20:48.290 --> 20:51.290 use in order to move our robot around. 20:51.290 --> 20:57.960 And so in order to set a goal state for the robot before doing so, we need to select a planner. 20:57.960 --> 21:02.760 So let's go to the context here and let's change here. 21:02.760 --> 21:07.770 The planning library that we are going to use for our robot is the Ompl library. 21:07.770 --> 21:10.800 So take care of choosing this library here. 21:10.800 --> 21:15.450 And if you don't have it installed, you can just open a new window of the terminal. 21:15.450 --> 21:24.690 Select this and let's use the command sudo apt get install and from the Ros followed by the version 21:24.690 --> 21:26.190 of ros2 that you are using. 21:26.190 --> 21:28.230 That in my case it is Jessie. 21:28.260 --> 21:31.350 Let's install the move it planners. 21:31.350 --> 21:37.200 And then if we press tab twice we can see that here we have the move it planners ompl. 21:37.230 --> 21:41.190 So I'm not going to install it as I have already it here. 21:41.190 --> 21:42.780 So I can close this one. 21:42.780 --> 21:46.650 So here make sure that you have the Ompl library loaded. 21:46.650 --> 21:49.500 And then back in the planning. 21:49.500 --> 21:52.690 Let's also enable this checkbox here. 21:52.690 --> 21:54.040 So the approx. 21:54.040 --> 21:59.740 Inverse kinematics solution as this will make the calculation much faster. 21:59.800 --> 22:00.640 Perfect. 22:00.640 --> 22:06.160 So now we can actually grab this sphere here. 22:06.160 --> 22:10.120 And so we can see that as we grab this sphere all the robot moves. 22:10.120 --> 22:13.900 So the robot that this this one here. 22:13.900 --> 22:18.670 So the orange one is representative of the goal state of the robot. 22:18.670 --> 22:20.950 So we are moving the goal state of the robot. 22:20.950 --> 22:24.010 And this instead is the current status of the robot. 22:24.010 --> 22:26.800 So as we can see this is the current position. 22:26.800 --> 22:30.610 And this orange one here is instead the goal position. 22:30.610 --> 22:34.870 So the position in which we want the robot to be after the movement. 22:34.900 --> 22:41.830 So now once we have selected our goal position that is this one, here we can simply plan and execute 22:41.860 --> 22:42.490 a path. 22:42.490 --> 22:45.190 So let's press on plan and execute. 22:45.190 --> 22:48.520 And we can see that as we press on this button here. 22:48.520 --> 22:51.210 Both the robot here in service. 22:51.210 --> 22:53.580 And also the simulated robot are moving. 22:53.580 --> 22:56.040 And then we can see that perfectly. 22:56.040 --> 22:57.930 So the red position. 22:57.930 --> 23:02.640 So the red robot here in service perfectly matches the orange one. 23:02.640 --> 23:07.170 And so this confirms us that the movement was completed successfully. 23:07.290 --> 23:13.080 So the current position of the robot is exactly equal to the desired position. 23:13.260 --> 23:17.580 Also apart from moving the arm we can also move the gripper. 23:17.580 --> 23:19.260 And in order to do so. 23:19.260 --> 23:25.440 So if we change the visualization in order to see the gripper here, we can change the planning group. 23:25.740 --> 23:29.550 And here we have the two planning groups that we have set for move it. 23:29.550 --> 23:33.180 And so for example let's select now the planning group for the gripper. 23:33.210 --> 23:34.200 Also in gazebo. 23:34.200 --> 23:38.640 Let's visualize it a little bit better so we can see the gripper moving. 23:38.670 --> 23:41.160 And now also for the gripper. 23:41.160 --> 23:44.160 So here make sure that you have the planning group gripper. 23:44.160 --> 23:47.730 And also for the gripper we want to use as a planning library. 23:47.730 --> 23:52.210 So back in the context we want to use the Ompl library. 23:52.210 --> 23:54.070 So let's choose this library here. 23:54.100 --> 23:54.880 Perfect. 23:54.880 --> 23:56.320 And now for the gripper. 23:56.320 --> 24:00.340 For example, we can set the start state as the current state. 24:00.340 --> 24:01.810 So the gripper is closed. 24:01.810 --> 24:06.370 And as the goal state we can set just a random valid state. 24:06.370 --> 24:12.100 So let's press this one so we can see that this orange one will be the new state. 24:12.100 --> 24:14.830 So the gripper will slightly open. 24:14.830 --> 24:17.830 And this red one is the current state. 24:17.830 --> 24:24.310 So now if we press plan and execute also for the gripper we can see that in the simulation the gripper 24:24.310 --> 24:25.510 is now opening. 24:25.510 --> 24:30.040 And also here we can see that in RVs the red arm. 24:30.040 --> 24:33.730 So the red gripper is perfectly matching the orange one. 24:33.730 --> 24:39.730 So this means that the current state of the robot is perfectly matching the goal state that we have 24:39.730 --> 24:40.360 set. 24:40.390 --> 24:47.320 Now, feel free to continue playing with this tool, and to send the robot in new position, and to 24:47.350 --> 24:49.420 create your own movements.