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Description

Document how "previous" from the drop down list works in the tutorials.
Please see more here: moveit/moveit#1742.

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@welcome
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welcome bot commented Nov 26, 2019

Thanks for helping in improving MoveIt and open source robotics!

Comment on lines 171 to 173
The ``Planning`` tab has comboboxes for both, the start and goal state, to choose specific robot states from. These states include the current state, the previous state, a randomly sampled state, as well as all named states of the selected planning group that were defined in the ``.srdf`` file of the robot.
The ``previous`` state here refers to the start state of the previous planning attempt. Thus, choosing ``previous`` as the goal state after execution of a planned motion path, allows you to move back to the previous robot pose easily. As, both the ``current`` and the ``previous`` start/goal states are automatically updated after execution, you can easily plan and move back and forth between two states as illustrated in the following video.

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The ``Planning`` tab has comboboxes for both, the start and goal state, to choose specific robot states from. These states include the current state, the previous state, a randomly sampled state, as well as all named states of the selected planning group that were defined in the ``.srdf`` file of the robot.
The ``previous`` state here refers to the start state of the previous planning attempt. Thus, choosing ``previous`` as the goal state after execution of a planned motion path, allows you to move back to the previous robot pose easily. As, both the ``current`` and the ``previous`` start/goal states are automatically updated after execution, you can easily plan and move back and forth between two states as illustrated in the following video.
The ``Planning`` tab lets you choose start and goal states for your robot from these options:
- The current state
- The previous state
- A randomly sampled state
- Or a named states of the selected planning group, as defined in the ``.srdf`` file of the robot.
The ``previous`` state here refers to the start state of the previous planning attempt. Thus, selecting ``previous`` as the goal state after execution of a planned motion path allows you to move back to the previous robot pose easily. As, both the ``current`` and the ``previous`` start/goal states are automatically updated after execution, you can easily move back and forth between two states as illustrated in the animation below.

Just style changes, LGTM either way!

@felixvd
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felixvd commented Sep 11, 2020

@takarakasai Would you like to accept the change? CI seems to have failed on an unrelated issue. Could you try rebasing?

@davetcoleman
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Replaced by #610

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4 participants