fix_collision_objects.py

Go to the documentation of this file.

#! /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")
 
# Create a task
task = core.Task()
task.name = "fix collision objects"
 
# 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)