modify_planning_scene.py

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#! /usr/bin/env python3
# -*- coding: utf-8 -*-
 
from moveit.task_constructor import core, stages
from moveit_msgs.msg import CollisionObject
from shape_msgs.msg import SolidPrimitive
from geometry_msgs.msg import PoseStamped
from py_binding_tools import roscpp_init
import time
 
roscpp_init("mtc_tutorial")
 
# Create a task
task = core.Task()
task.name = "modify planning scene"
 
# Add the current state to the task hierarchy
task.add(stages.CurrentState("current state"))
 
# [initAndConfigModifyPlanningScene]
# Specify object parameters
object_name = "grasp_object"
object_radius = 0.02
 
objectPose = PoseStamped()
objectPose.header.frame_id = "world"
objectPose.pose.orientation.x = 1.0
objectPose.pose.position.x = 0.30702
objectPose.pose.position.y = 0.0
objectPose.pose.position.z = 0.285
 
object = CollisionObject()
object.header.frame_id = "world"
object.id = object_name
sphere = SolidPrimitive()
sphere.type = sphere.SPHERE
sphere.dimensions.insert(sphere.SPHERE_RADIUS, object_radius)
 
object.primitives.append(sphere)
object.primitive_poses.append(objectPose.pose)
object.operation = object.ADD
 
modifyPlanningScene = stages.ModifyPlanningScene("modify planning scene")
modifyPlanningScene.addObject(object)
task.add(modifyPlanningScene)
# [initAndConfigModifyPlanningScene]
 
if task.plan():
    task.publish(task.solutions[0])
time.sleep(1)