Sequence Tutorial for Pilz Industrial Motion Planner #801
Description
Description
I am looking for Sequence Tutorial for Pilz Industrial Motion Planner in MoveIt 2.
Your environment
- ROS Distro: Humble
- OS Version: Ubuntu 22.04
- Source or Binary build: Source
Additional Info
Below is the code snippet showing sequence tutorial in Python for ROS Melodic:
# Repeat the previous steps with a sequence command
sequence = Sequence()
sequence.append(Lin(goal=Pose(position=Point(0.2, 0, 0.8)), vel_scale=0.1, acc_scale=0.1))
sequence.append(Circ(goal=Pose(position=Point(0.2, -0.2, 0.8)), center=Point(0.1, -0.1, 0.8), acc_scale=0.1))
sequence.append(Ptp(goal=pose_after_relative, vel_scale=0.2))
r.move(sequence)
# Move to start goal for sequence demonstration
r.move(Ptp(goal=start_joint_values))
# Blend sequence
blend_sequence = Sequence()
blend_sequence.append(Lin(goal=Pose(position=Point(0.2, 0, 0.7)), acc_scale=0.05), blend_radius=0.01)
blend_sequence.append(Lin(goal=Pose(position=Point(0.2, 0.1, 0.7)), acc_scale=0.05))
r.move(blend_sequence)
Source: https://docs.ros.org/en/melodic/api/pilz_robot_programming/html/