fixed_state.py

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#! /usr/bin/env python3
# -*- coding: utf-8 -*-
 
from moveit.core import planning_scene
from moveit.task_constructor import core, stages
from py_binding_tools import roscpp_init
from moveit.core.planning_scene import PlanningScene
import time
 
roscpp_init("mtc_tutorial")
 
 
# Create a task
task = core.Task()
task.name = "fixed state"
 
# [initAndConfigFixedState]
# Initialize a PlanningScene for use in a FixedState stage
task.loadRobotModel()  # load the robot model (usually done in init())
planningScene = PlanningScene(task.getRobotModel())
 
# Create a FixedState stage and pass the created PlanningScene as its state
fixedState = stages.FixedState("fixed state")
fixedState.setState(planningScene)
 
# Add the stage to the task hierarchy
task.add(fixedState)
# [initAndConfigFixedState]
 
if task.plan():
    task.publish(task.solutions[0])
 
del planningScene  # Avoid ClassLoader warning by destroying the RobotModel
time.sleep(1)