dual arm plan in python

[ywu2014]

Background

I'm trying to using moveit2 python environment to do dual arm plan. I found many examples with C++, but didn't found any using python. I tried below code:

...
self.cr3_arm_group: PlanningComponent = self.robot.get_planning_component("cr3_arm")
self.nova2_arm_group: PlanningComponent = self.robot.get_planning_component("nova2_arm")
self.dual_arm_group: PlanningComponent = self.robot.get_planning_component("dual_arm")
...

cr3_pose_goal = PoseStamped()
cr3_pose_goal.header.frame_id = "base_link"
cr3_pose_goal.pose.position.x = -0.299975
cr3_pose_goal.pose.position.y = -0.50000693
cr3_pose_goal.pose.position.z = 0.069975

cr3_pose_goal.pose.orientation.w = 0.0
cr3_pose_goal.pose.orientation.x = 0.0
cr3_pose_goal.pose.orientation.y = 1.0
cr3_pose_goal.pose.orientation.z = 0.0

nova2_pose_goal = PoseStamped()
nova2_pose_goal.header.frame_id = "nova2_base_link"
nova2_pose_goal.pose.position.x = 0.30004
nova2_pose_goal.pose.position.y = -0.49997307
nova2_pose_goal.pose.position.z = 0.070025

nova2_pose_goal.pose.orientation.w = 0.0
nova2_pose_goal.pose.orientation.x = 0.0
nova2_pose_goal.pose.orientation.y = 1.0
nova2_pose_goal.pose.orientation.z = 0.0

self.dual_arm_group.set_start_state_to_current_state()
self.dual_arm_group.set_goal_state(pose_stamped_msg=cr3_pose_goal, pose_link="Link6")
self.dual_arm_group.set_goal_state(pose_stamped_msg=nova2_pose_goal, pose_link="nova2_Link6")

plan_result = self.plan(self.dual_arm_group)

but it didn't work, only the second arm(nova2_arm) was planed

I want to know how to plan dual arm with python, thanks.

Environment

ROS2: Humble
Moveit: Moveit2
Python: 3.10

[devika-dudo]

There's no moveitpy for humble
Only community version is available ig