fallbacks.py

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#! /usr/bin/env python3
# -*- coding: utf-8 -*-
 
from moveit.task_constructor import core, stages
from py_binding_tools import roscpp_init
import time
 
roscpp_init("mtc_tutorial")
 
# use cartesian and joint interpolation planners
cartesianPlanner = core.CartesianPath()
jointPlanner = core.JointInterpolationPlanner()
 
# initialize the mtc task
task = core.Task()
task.name = "fallbacks"
 
# add the current planning scene state to the task hierarchy
currentState = stages.CurrentState("Current State")
task.add(currentState)
 
# [initAndConfigFallbacks]
# create a fallback container to fall back to a different planner
# if motion generation fails with the primary one
fallbacks = core.Fallbacks("Fallbacks")
 
# primary motion plan
moveTo1 = stages.MoveTo("Move To Goal Configuration 1", cartesianPlanner)
moveTo1.group = "panda_arm"
moveTo1.setGoal("extended")
fallbacks.insert(moveTo1)
 
# fallback motion plan
moveTo2 = stages.MoveTo("Move To Goal Configuration 2", jointPlanner)
moveTo2.group = "panda_arm"
moveTo2.setGoal("extended")
fallbacks.insert(moveTo2)
 
# add the fallback container to the task hierarchy
task.add(fallbacks)
# [initAndConfigFallbacks]
 
if task.plan():
    task.publish(task.solutions[0])
time.sleep(1)