moveit_task_constructor/demo/scripts/alternatives.py
2023-02-15 17:05:25 +01:00

67 lines
1.6 KiB
Python
Executable File

#! /usr/bin/env python
# -*- coding: utf-8 -*-
from moveit.task_constructor import core, stages
from moveit_commander.roscpp_initializer import roscpp_initialize
import time
roscpp_initialize("mtc_tutorial_alternatives")
# Use the joint interpolation planner
jointPlanner = core.JointInterpolationPlanner()
# Create a task
task = core.Task()
# Start from current robot state
currentState = stages.CurrentState("current state")
# Add the current state to the task hierarchy
task.add(currentState)
# [initAndConfigAlternatives]
# The alternatives stage supports multiple execution paths
alternatives = core.Alternatives("Alternatives")
# goal 1
goalConfig1 = {
"panda_joint1": 1.0,
"panda_joint2": -1.0,
"panda_joint3": 0.0,
"panda_joint4": -2.5,
"panda_joint5": 1.0,
"panda_joint6": 1.0,
"panda_joint7": 1.0,
}
# goal 2
goalConfig2 = {
"panda_joint1": -3.0,
"panda_joint2": -1.0,
"panda_joint3": 0.0,
"panda_joint4": -2.0,
"panda_joint5": 1.0,
"panda_joint6": 2.0,
"panda_joint7": 0.5,
}
# First motion plan to compare
moveTo1 = stages.MoveTo("Move To Goal Configuration 1", jointPlanner)
moveTo1.group = "panda_arm"
moveTo1.setGoal(goalConfig1)
alternatives.insert(moveTo1)
# Second motion plan to compare
moveTo2 = stages.MoveTo("Move To Goal Configuration 2", jointPlanner)
moveTo2.group = "panda_arm"
moveTo2.setGoal(goalConfig2)
alternatives.insert(moveTo2)
# Add the alternatives stage to the task hierarchy
task.add(alternatives)
# [initAndConfigAlternatives]
if task.plan():
task.publish(task.solutions[0])
time.sleep(1)