plan.py

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#!/usr/bin/env python
 
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# Author: Ioan Sucan
 
import sys
import rospy
from moveit_commander import RobotCommander, roscpp_initialize, roscpp_shutdown
from moveit_msgs.msg import RobotState
 
if __name__ == "__main__":
 
    roscpp_initialize(sys.argv)
    rospy.init_node("moveit_py_demo", anonymous=True)
 
    robot = RobotCommander()
    rospy.sleep(1)
 
    print("Current state:")
    print(robot.get_current_state())
 
    # plan to a random location
    a = robot.right_arm
    a.set_start_state(RobotState())
    r = a.get_random_joint_values()
    print("Planning to random joint position: ")
    print(r)
    p = a.plan(r)
    print("Solution:")
    print(p)
 
    roscpp_shutdown()