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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
Use MoveIt's roscpp_initialize
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parent
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@ -32,6 +32,7 @@
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<test_depend>rostest</test_depend>
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<test_depend>rostest</test_depend>
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<test_depend>moveit_resources_fanuc_moveit_config</test_depend>
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<test_depend>moveit_resources_fanuc_moveit_config</test_depend>
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<test_depend>moveit_planners</test_depend>
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<test_depend>moveit_planners</test_depend>
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<test_depend>moveit_commander</test_depend>
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<export>
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<export>
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<moveit_task_constructor_core plugin="${prefix}/motion_planning_stages_plugin_description.xml" />
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<moveit_task_constructor_core plugin="${prefix}/motion_planning_stages_plugin_description.xml" />
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@ -3,7 +3,7 @@
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from __future__ import print_function
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from __future__ import print_function
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import unittest
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import unittest
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import rostest
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import rostest
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from moveit.tools import roscpp_init
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from moveit_commander.roscpp_initializer import roscpp_initialize
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from moveit.task_constructor import core, stages
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from moveit.task_constructor import core, stages
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from geometry_msgs.msg import PoseStamped, Pose
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from geometry_msgs.msg import PoseStamped, Pose
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from geometry_msgs.msg import Vector3Stamped, Vector3
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from geometry_msgs.msg import Vector3Stamped, Vector3
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@ -65,5 +65,5 @@ class Test(unittest.TestCase):
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if __name__ == "__main__":
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if __name__ == "__main__":
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roscpp_init("test_mtc")
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roscpp_initialize("test_mtc")
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rostest.rosrun("mtc", "base", Test)
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rostest.rosrun("mtc", "base", Test)
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@ -4,7 +4,7 @@
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from __future__ import print_function
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from __future__ import print_function
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import unittest
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import unittest
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import rostest
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import rostest
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from moveit.tools import roscpp_init
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from moveit_commander.roscpp_initializer import roscpp_initialize
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from moveit.task_constructor import core, stages
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from moveit.task_constructor import core, stages
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from moveit.core.planning_scene import PlanningScene
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from moveit.core.planning_scene import PlanningScene
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from geometry_msgs.msg import Vector3Stamped, Vector3
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from geometry_msgs.msg import Vector3Stamped, Vector3
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@ -131,5 +131,5 @@ class TestTrampolines(unittest.TestCase):
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if __name__ == "__main__":
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if __name__ == "__main__":
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roscpp_init("test_mtc")
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roscpp_initialize("test_mtc")
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rostest.rosrun("mtc", "trampoline", TestTrampolines)
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rostest.rosrun("mtc", "trampoline", TestTrampolines)
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@ -2,10 +2,10 @@
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# -*- coding: utf-8 -*-
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# -*- coding: utf-8 -*-
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from moveit.task_constructor import core, stages
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from moveit.task_constructor import core, stages
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from moveit.python_tools import roscpp_init
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from moveit_commander.roscpp_initializer import roscpp_initialize
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import time
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import time
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roscpp_init("mtc_tutorial_alternatives")
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roscpp_initialize("mtc_tutorial_alternatives")
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# Use the joint interpolation planner
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# Use the joint interpolation planner
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jointPlanner = core.JointInterpolationPlanner()
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jointPlanner = core.JointInterpolationPlanner()
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@ -7,9 +7,9 @@ from moveit.task_constructor import core, stages
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from math import pi
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from math import pi
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import time
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import time
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from moveit.tools import roscpp_init
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from moveit_commander.roscpp_initializer import roscpp_initialize
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roscpp_init("mtc_tutorial")
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roscpp_initialize("mtc_tutorial")
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# [cartesianTut1]
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# [cartesianTut1]
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group = "panda_arm"
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group = "panda_arm"
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@ -6,9 +6,9 @@ from geometry_msgs.msg import PoseStamped, Pose, Vector3
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from std_msgs.msg import Header
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from std_msgs.msg import Header
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import time
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import time
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from moveit.python_tools import roscpp_init
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from moveit_commander.roscpp_initializer import roscpp_initialize
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roscpp_init("mtc_tutorial_compute_ik")
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roscpp_initialize("mtc_tutorial_compute_ik")
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# Specify the planning group
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# Specify the planning group
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group = "panda_arm"
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group = "panda_arm"
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@ -2,10 +2,10 @@
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# -*- coding: utf-8 -*-
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# -*- coding: utf-8 -*-
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from moveit.task_constructor import core, stages
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from moveit.task_constructor import core, stages
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from moveit.python_tools import roscpp_init
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from moveit_commander.roscpp_initializer import roscpp_initialize
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import time
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import time
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roscpp_init("mtc_tutorial_current_state")
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roscpp_initialize("mtc_tutorial_current_state")
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# Create a task
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# Create a task
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task = core.Task()
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task = core.Task()
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@ -2,10 +2,10 @@
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# -*- coding: utf-8 -*-
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# -*- coding: utf-8 -*-
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from moveit.task_constructor import core, stages
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from moveit.task_constructor import core, stages
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from moveit.python_tools import roscpp_init
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from moveit_commander.roscpp_initializer import roscpp_initialize
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import time
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import time
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roscpp_init("mtc_tutorial_fallbacks")
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roscpp_initialize("mtc_tutorial_fallbacks")
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# use cartesian and joint interpolation planners
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# use cartesian and joint interpolation planners
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cartesianPlanner = core.CartesianPath()
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cartesianPlanner = core.CartesianPath()
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@ -2,10 +2,10 @@
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# -*- coding: utf-8 -*-
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# -*- coding: utf-8 -*-
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from moveit.task_constructor import core, stages
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from moveit.task_constructor import core, stages
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from moveit.python_tools import roscpp_init
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from moveit_commander.roscpp_initializer import roscpp_initialize
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import time
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import time
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roscpp_init("mtc_tutorial_current_state")
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roscpp_initialize("mtc_tutorial_current_state")
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# Create a task
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# Create a task
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task = core.Task()
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task = core.Task()
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@ -3,11 +3,11 @@
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from moveit.core import planning_scene
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from moveit.core import planning_scene
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from moveit.task_constructor import core, stages
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from moveit.task_constructor import core, stages
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from moveit.python_tools import roscpp_init
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from moveit_commander.roscpp_initializer import roscpp_initialize
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from moveit.core.planning_scene import PlanningScene
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from moveit.core.planning_scene import PlanningScene
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import time
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import time
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roscpp_init("mtc_tutorial_current_state")
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roscpp_initialize("mtc_tutorial_current_state")
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# Create a task
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# Create a task
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@ -3,10 +3,10 @@
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from moveit.task_constructor import core, stages
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from moveit.task_constructor import core, stages
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from geometry_msgs.msg import PoseStamped
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from geometry_msgs.msg import PoseStamped
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from moveit.python_tools import roscpp_init
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from moveit_commander.roscpp_initializer import roscpp_initialize
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import time
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import time
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roscpp_init("mtc_tutorial_compute_ik")
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roscpp_initialize("mtc_tutorial_compute_ik")
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# Specify the planning group
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# Specify the planning group
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group = "panda_arm"
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group = "panda_arm"
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# -*- coding: utf-8 -*-
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# -*- coding: utf-8 -*-
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from moveit.task_constructor import core, stages
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from moveit.task_constructor import core, stages
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from moveit.python_tools import roscpp_init
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from moveit_commander.roscpp_initializer import roscpp_initialize
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import time
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import time
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roscpp_init("mtc_tutorial_merger")
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roscpp_initialize("mtc_tutorial_merger")
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# use the joint interpolation planner
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# use the joint interpolation planner
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planner = core.JointInterpolationPlanner()
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planner = core.JointInterpolationPlanner()
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@ -5,10 +5,10 @@ from moveit.task_constructor import core, stages
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from moveit_msgs.msg import CollisionObject
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from moveit_msgs.msg import CollisionObject
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from shape_msgs.msg import SolidPrimitive
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from shape_msgs.msg import SolidPrimitive
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from geometry_msgs.msg import PoseStamped
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from geometry_msgs.msg import PoseStamped
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from moveit.python_tools import roscpp_init
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from moveit_commander.roscpp_initializer import roscpp_initialize
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import time
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import time
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roscpp_init("mtc_tutorial_modify_planning_scene")
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roscpp_initialize("mtc_tutorial_modify_planning_scene")
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# Create a task
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# Create a task
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task = core.Task()
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task = core.Task()
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@ -1,13 +1,13 @@
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#! /usr/bin/env python
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#! /usr/bin/env python
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# -*- coding: utf-8 -*-
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# -*- coding: utf-8 -*-
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from moveit.python_tools import roscpp_init
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from moveit_commander.roscpp_initializer import roscpp_initialize
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from moveit.task_constructor import core, stages
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from moveit.task_constructor import core, stages
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from moveit_commander import PlanningSceneInterface
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from moveit_commander import PlanningSceneInterface
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from geometry_msgs.msg import PoseStamped, TwistStamped
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from geometry_msgs.msg import PoseStamped, TwistStamped
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import time
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import time
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roscpp_init("pickplace")
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roscpp_initialize("pickplace")
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# [pickAndPlaceTut1]
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# [pickAndPlaceTut1]
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# Specify robot parameters
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# Specify robot parameters
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@ -5,9 +5,9 @@ from moveit.task_constructor import core, stages
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from geometry_msgs.msg import PoseStamped
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from geometry_msgs.msg import PoseStamped
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import time
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import time
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from moveit.python_tools import roscpp_init
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from moveit_commander.roscpp_initializer import roscpp_initialize
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roscpp_init("mtc_tutorial")
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roscpp_initialize("mtc_tutorial")
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# Create a task container
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# Create a task container
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task = core.Task()
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task = core.Task()
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