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[MoveIt!] How to set a start pose with python?

asked 2016-10-11 09:41:59 -0600

F4bich gravatar image

Hi guys,

is it possible to set the pose (e.g. described as a list of joint angles) of the robot to certain values without planning a path, using the python move_group interface? Possibly there doesn't exist a path from my current pose A to the desired start pose B, but I want to find a path from B to C.

I think the 'set_start_state' function is supposed to provide this; however, I don't know how the start point is supposed to be specified (as msg).

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answered 2016-10-11 18:21:27 -0600

JoshMarino gravatar image

It appears to be a RobotState message from here. You can print out the start_state to see what it consists of.

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Using the robot_state doesn't work for me. I used these functions:

state = robot.get_current_state()
group.set_start_state(state)

If the state is set like that, and then a path is planned somewhere else, the path will start in the state it was before setting it to something else.

F4bich gravatar imageF4bich ( 2016-10-12 07:12:45 -0600 )edit

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Asked: 2016-10-11 09:41:59 -0600

Seen: 744 times

Last updated: Oct 11 '16