merger.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 the joint interpolation planner
planner = core.JointInterpolationPlanner()
 
# the task will contain our stages
task = core.Task()
task.name = "merger"
 
# start from current robot state
currentState = stages.CurrentState("current state")
task.add(currentState)
 
# [initAndConfigMerger]
# the merger plans for two parallel execution paths
merger = core.Merger("Merger")
 
# first simultaneous execution
moveTo1 = stages.MoveTo("Move To Home", planner)
moveTo1.group = "hand"
moveTo1.setGoal("close")
merger.insert(moveTo1)
 
# second simultaneous execution
moveTo2 = stages.MoveTo("Move To Ready", planner)
moveTo2.group = "panda_arm"
moveTo2.setGoal("extended")
merger.insert(moveTo2)
 
# add the merger stage to the task hierarchy
task.add(merger)
# [initAndConfigMerger]
 
if task.plan():
    task.publish(task.solutions[0])
time.sleep(1)