plan.py
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1 #!/usr/bin/env python
2 
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5 # Copyright (c) 2013, Willow Garage, Inc.
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35 # Author: Ioan Sucan
36 
37 import sys
38 import rospy
39 from moveit_commander import RobotCommander, roscpp_initialize, roscpp_shutdown
40 from moveit_msgs.msg import RobotState
41 
42 if __name__=='__main__':
43 
44  roscpp_initialize(sys.argv)
45  rospy.init_node('moveit_py_demo', anonymous=True)
46 
47  robot = RobotCommander()
48  rospy.sleep(1)
49 
50  print "Current state:"
51  print robot.get_current_state()
52 
53  # plan to a random location
54  a = robot.right_arm
55  a.set_start_state(RobotState())
56  r = a.get_random_joint_values()
57  print "Planning to random joint position: "
58  print r
59  p = a.plan(r)
60  print "Solution:"
61  print p
62 
63  roscpp_shutdown()


moveit_commander
Author(s): Ioan Sucan
autogenerated on Thu Oct 18 2018 02:48:31