multi_planner.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")
 
ompl_planner = core.PipelinePlanner("ompl")
ompl_planner.planner = "RRTConnectkConfigDefault"
pilz_planner = core.PipelinePlanner("pilz_industrial_motion_planner")
pilz_planner.planner = "PTP"
multiPlanner = core.MultiPlanner()
multiPlanner.add(pilz_planner, ompl_planner)
 
# Create a task
task = core.Task()
task.name = "multi planner"
 
# Start from current robot state
currentState = stages.CurrentState("current state")
 
# Add the current state to the task hierarchy
task.add(currentState)
 
# The alternatives stage supports multiple execution paths
alternatives = core.Alternatives("Alternatives")
 
# goal 1
goalConfig1 = {
    "panda_joint1": 1.0,
    "panda_joint2": -1.0,
    "panda_joint3": 0.0,
    "panda_joint4": -2.5,
    "panda_joint5": 1.0,
    "panda_joint6": 1.0,
    "panda_joint7": 1.0,
}
 
# goal 2
goalConfig2 = {
    "panda_joint1": -3.0,
    "panda_joint2": -1.0,
    "panda_joint3": 0.0,
    "panda_joint4": -2.0,
    "panda_joint5": 1.0,
    "panda_joint6": 2.0,
    "panda_joint7": 0.5,
}
 
# First motion plan to compare
moveTo1 = stages.MoveTo("Move To Goal Configuration 1", multiPlanner)
moveTo1.group = "panda_arm"
moveTo1.setGoal(goalConfig1)
alternatives.insert(moveTo1)
 
# Second motion plan to compare
moveTo2 = stages.MoveTo("Move To Goal Configuration 2", multiPlanner)
moveTo2.group = "panda_arm"
moveTo2.setGoal(goalConfig2)
alternatives.insert(moveTo2)
 
# Add the alternatives stage to the task hierarchy
task.add(alternatives)
 
if task.plan():
    task.publish(task.solutions[0])
time.sleep(1)