MoveGroupSequence PILZ plan only multiple unrelated trajectories
How can I plan ONLY multiple linear trajectories that are independent of each other?
For my use case, I want to plan several trajectories starting from different states and they are unrelated of each other.
I am using the SimpleActionClient actionlib.SimpleActionClient("/sequence_move_group", moveit_msgs.msg.MoveGroupSequenceAction)
. When planning the first trajectory, the result is okay, however when I send the second trajectory to be planned I get the following error:
[ERROR] [1623032769.603690338]: > Planning pipeline threw an exception (error code: -17): Only the first request is allowed to have a start state, but the requests for group: "b_bot" violate the rule
As I understand, the "SequenceManager" seems to interpret the second trajectory as part of the first and then it complains that only the first request is allowed to have a start state
. However, how do I tell the "SequenceManager" that the two trajectories are not part of the same sequence and that just treat the second request as a new request?
If I use the SimpleActionClient with the planning_options.plan_only = False
, the first trajectory is planned and executed correctly, then the second trajectory is planned and executed correctly. However if the request is planning_options.plan_only = True
the I get the above mentioned error. I do not want to plan1->execute1->plan2->execute2, I want to plan1->plan2->execute1->execute2
My bad, for both trajectories I was using the move_group to construct the
MotionSequenceRequest
. However, for the first trajectory I use the default value ofstart_state
so it worked fine, but for the second trajectory I was setting a desiredstart_state
which was being included in each point of the trajectory. Thus, the planner was complaining about that.Could you post your comment as an answer (ideally with some example code) and accept it, so the question is out of the Unanswered queue?