plan.py

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#!/usr/bin/env python

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# Author: Ioan Sucan

import sys
import rospy
from moveit_commander import RobotCommander, roscpp_initialize, roscpp_shutdown
from moveit_msgs.msg import RobotState

if __name__=='__main__':

    roscpp_initialize(sys.argv)
    rospy.init_node('moveit_py_demo', anonymous=True)

    robot = RobotCommander()
    rospy.sleep(1)

    print "Current state:"
    print robot.get_current_state()

    # plan to a random location
    a = robot.right_arm
    a.set_start_state(RobotState())
    r = a.get_random_joint_values()
    print "Planning to random joint position: "
    print r
    p = a.plan(r)
    print "Solution:"
    print p

    roscpp_shutdown()