generate_pose.py

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#! /usr/bin/env python3
# -*- coding: utf-8 -*-
 
from moveit.task_constructor import core, stages
from geometry_msgs.msg import PoseStamped
from py_binding_tools import roscpp_init
import time
 
roscpp_init("mtc_tutorial")
 
# Specify the planning group
group = "panda_arm"
 
# Create a task
task = core.Task()
task.name = "generate pose"
 
# Get the current robot state
currentState = stages.CurrentState("current state")
task.add(currentState)
 
# Create a planner instance that is used to connect
# the current state to the grasp approach pose
pipelinePlanner = core.PipelinePlanner()
pipelinePlanner.planner = "RRTConnectkConfigDefault"
planners = [(group, pipelinePlanner)]
 
# Connect the two stages
connect = stages.Connect("connect1", planners)
connect.properties.configureInitFrom(core.Stage.PropertyInitializerSource.PARENT)
task.add(connect)
 
# [initAndConfigGeneratePose]
# create an example pose wrt. the origin of the
# panda arm link8
pose = PoseStamped()
pose.header.frame_id = "panda_link8"
 
# Calculate the inverse kinematics for the current robot state
generatePose = stages.GeneratePose("generate pose")
 
# spwan a pose whenever there is a solution of the monitored stage
generatePose.setMonitoredStage(task["current state"])
generatePose.pose = pose
 
# Add the stage to the task hierarchy
task.add(generatePose)
# [initAndConfigGeneratePose]
 
if task.plan():
    task.publish(task.solutions[0])
time.sleep(1)