Unify Python demo scripts

Author: rhaschke

core/doc/tutorials/properties.rst

@@ -97,11 +97,6 @@ You can obtain a reference to the the PropertyMap of a stage like so
     :start-after: [propertyTut10]
     :end-before: [propertyTut10]
 
-.. literalinclude:: ../../../demo/scripts/properties.py
-    :language: python
-    :start-after: [propertyTut11]
-    :end-before: [propertyTut11]
-
 
 As mentioned, each stage contains a PropertyMap.
 Stages communicate to each other via their interfaces.

demo/config/mtc.rviz

@@ -23,20 +23,20 @@ Panels:
     Name: Motion Planning Tasks
     Tasks View:
       property_splitter:
-        - 600
+        - 643
         - 0
       solution_sorting:
         column: 1
         order: 0
       solutions_splitter:
-        - 223
-        - 72
+        - 316
+        - 102
       solutions_view_columns: ~
       tasks_view_columns:
-        - 107
-        - 38
+        - 194
         - 38
         - 38
+        - 44
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -153,6 +153,10 @@ Visualization Manager:
       Markers:
         All at once?: false
         Value: true
+        approach: true
+        lift: true
+        place: true
+        retract: true
       Name: Motion Planning Tasks
       Robot:
         Fixed Robot Color: 150; 50; 150
@@ -238,7 +242,7 @@ Visualization Manager:
       State Display Time: REALTIME
       Task Solution Topic: /mtc_tutorial/solution
       Tasks:
-        {}
+        pick + place: 24
       Trail Step Size: 1
       Value: true
   Enabled: true
@@ -289,9 +293,9 @@ Window Geometry:
     collapsed: false
   Motion Planning Tasks - Slider:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Views:
     collapsed: false
   Width: 1450
-  X: 1920
-  Y: 28
+  X: 2560
+  Y: 9

demo/scripts/alternatives.py

@@ -5,13 +5,14 @@
 from py_binding_tools import roscpp_init
 import time
 
-roscpp_init("mtc_tutorial_alternatives")
+roscpp_init("mtc_tutorial")
 
 # Use the joint interpolation planner
 jointPlanner = core.JointInterpolationPlanner()
 
 # Create a task
 task = core.Task()
+task.name = "alternatives"
 
 # Start from current robot state
 currentState = stages.CurrentState("current state")

demo/scripts/cartesian.py

@@ -23,6 +23,7 @@
 
 # [cartesianTut3]
 task = core.Task()
+task.name = "cartesian"
 
 # start from current robot state
 task.add(stages.CurrentState("current state"))

demo/scripts/compute_ik.py

@@ -2,19 +2,20 @@
 # -*- coding: utf-8 -*-
 
 from moveit.task_constructor import core, stages
-from geometry_msgs.msg import PoseStamped, Pose, Vector3
+from geometry_msgs.msg import PoseStamped, Pose, Point
 from std_msgs.msg import Header
 import time
 
 from py_binding_tools import roscpp_init
 
-roscpp_init("mtc_tutorial_compute_ik")
+roscpp_init("mtc_tutorial")
 
 # Specify the planning group
 group = "panda_arm"
 
 # Create a task
 task = core.Task()
+task.name = "compute IK"
 
 # Add a stage to retrieve the current state
 task.add(stages.CurrentState("current state"))
@@ -32,7 +33,7 @@
 generator.setMonitoredStage(task["current state"])
 # Configure target pose
 # [propertyTut13]
-pose = Pose(position=Vector3(z=0.2))
+pose = Pose(position=Point(z=0.2))
 generator.pose = PoseStamped(header=Header(frame_id="panda_link8"), pose=pose)
 # [propertyTut13]
 

demo/scripts/constrained.py

@@ -16,6 +16,8 @@
 planner = core.PipelinePlanner()
 
 task = core.Task()
+task.name = "constrained"
+
 task.add(stages.CurrentState("current state"))
 
 co = CollisionObject()

demo/scripts/current_state.py

@@ -5,10 +5,11 @@
 from py_binding_tools import roscpp_init
 import time
 
-roscpp_init("mtc_tutorial_current_state")
+roscpp_init("mtc_tutorial")
 
 # Create a task
 task = core.Task()
+task.name = "current state"
 
 # Get the current robot state
 currentState = stages.CurrentState("current state")

demo/scripts/fallbacks.py

@@ -5,14 +5,15 @@
 from py_binding_tools import roscpp_init
 import time
 
-roscpp_init("mtc_tutorial_fallbacks")
+roscpp_init("mtc_tutorial")
 
 # use cartesian and joint interpolation planners
 cartesianPlanner = core.CartesianPath()
 jointPlanner = core.JointInterpolationPlanner()
 
 # initialize the mtc task
 task = core.Task()
+task.name = "fallbacks"
 
 # add the current planning scene state to the task hierarchy
 currentState = stages.CurrentState("Current State")

demo/scripts/fix_collision_objects.py

@@ -5,10 +5,11 @@
 from py_binding_tools import roscpp_init
 import time
 
-roscpp_init("mtc_tutorial_current_state")
+roscpp_init("mtc_tutorial")
 
 # Create a task
 task = core.Task()
+task.name = "fix collision objects"
 
 # Add the current state to the task hierarchy
 task.add(stages.CurrentState("current state"))

demo/scripts/fixed_state.py

@@ -7,11 +7,12 @@
 from moveit.core.planning_scene import PlanningScene
 import time
 
-roscpp_init("mtc_tutorial_current_state")
+roscpp_init("mtc_tutorial")
 
 
 # Create a task
 task = core.Task()
+task.name = "fixed state"
 
 # [initAndConfigFixedState]
 # Initialize a PlanningScene for use in a FixedState stage