mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
30 lines
725 B
Python
Executable File
30 lines
725 B
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_current_state")
|
|
|
|
# Create a task
|
|
task = core.Task()
|
|
|
|
# Add the current state to the task hierarchy
|
|
task.add(stages.CurrentState("current state"))
|
|
|
|
# [initAndConfig]
|
|
# check for collisions and find corrections
|
|
fixCollisionObjects = stages.FixCollisionObjects("FixCollisionObjects")
|
|
|
|
# cut off length for collision fixing
|
|
fixCollisionObjects.max_penetration = 0.01
|
|
|
|
# Add the stage to the task hierarchy
|
|
task.add(fixCollisionObjects)
|
|
# [initAndConfig]
|
|
|
|
if task.plan():
|
|
task.publish(task.solutions[0])
|
|
time.sleep(1)
|