pymoveit_mtc.core.Task¶

class Task(*args, **kwargs)¶

Bases: pybind11_object

Root stage of a planning pipeline. A task stage usually wraps a single container (by default SerialContainer) stage. The class provides methods to plan() for the configured pipeline and retrieve full solutions.

Overloaded function.

__init__(self: pymoveit_mtc.core.Task, ns: str = ‘’, introspection: bool = True) -> None
__init__(self: pymoveit_mtc.core.Task, ns: str = ‘’, introspection: bool = True, container: pymoveit_mtc.core.ContainerBase) -> None

Methods

`add`	Append stage(s) to the task's top-level container
`clear`	Reset the stage task (and all its stages)
`enableIntrospection`	Enable publishing intermediate results for inspection in `rviz`
`execute`	Send given solution to `move_group` node for execution
`getRobotModel`
`init`	Initialize the task (and all its stages)
`insert`	Insert stage before given index
`loadRobotModel`	Load robot model from given ROS parameter
`plan`	Reset, init, and plan.
`preempt`	Interrupt current planning (or execution)
`publish`	Publish the given solution to the ROS topic `solution`
`reset`	Reset task (and all its stages)
`setCostTerm`	Overloaded function.

Attributes

`failures`	Failed Solutions of the stage (read-only)
`name`	name of the task displayed e.g.
`properties`	PropertyMap of the stage (read-only)
`solutions`	Successful Solutions of the stage (read-only)

__getitem__(*args, **kwargs)¶

Overloaded function.

__getitem__(self: pymoveit_mtc.core.Task, arg0: str) -> pymoveit_mtc.core.Stage
__getitem__(self: pymoveit_mtc.core.Task, arg0: int) -> pymoveit_mtc.core.Stage

__iter__(self: pymoveit_mtc.core.Task) → Iterator[pymoveit_mtc.core.Stage]¶

__len__(self: pymoveit_mtc.core.Task) → None¶

add(self: pymoveit_mtc.core.Task, *args) → None¶: Append stage(s) to the task’s top-level container

clear(self: pymoveit_mtc.core.Task) → None¶: Reset the stage task (and all its stages)

enableIntrospection(self: pymoveit_mtc.core.Task, enabled: bool = True) → None¶: Enable publishing intermediate results for inspection in rviz

static execute(solution: pymoveit_mtc.core.Solution) → None¶: Send given solution to move_group node for execution

property failures¶

Failed Solutions of the stage (read-only)

Type:: Solutions

getRobotModel(self: pymoveit_mtc.core.Task) → moveit::core::RobotModel¶

init(self: pymoveit_mtc.core.Task) → None¶: Initialize the task (and all its stages)

insert(self: pymoveit_mtc.core.Task, stage: pymoveit_mtc.core.Stage, before: int = -1) → None¶: Insert stage before given index

loadRobotModel(self: pymoveit_mtc.core.Task, robot_description: str = 'robot_description') → None¶: Load robot model from given ROS parameter

property name¶

name of the task displayed e.g. in rviz

Type:: str

plan(self: pymoveit_mtc.core.Task, max_solutions: int = 0) → pymoveit_mtc.core.MoveItErrorCode¶: Reset, init, and plan. Planning is limited to max_allowed_solutions. Returns if planning was successful.

preempt(self: pymoveit_mtc.core.Task) → None¶: Interrupt current planning (or execution)

property properties¶

PropertyMap of the stage (read-only)

Type:: PropertyMap

publish(self: pymoveit_mtc.core.Task, solution: pymoveit_mtc.core.Solution) → None¶: Publish the given solution to the ROS topic solution

reset(self: pymoveit_mtc.core.Task) → None¶: Reset task (and all its stages)

setCostTerm(*args, **kwargs)¶

Overloaded function.

setCostTerm(self: pymoveit_mtc.core.Task, arg0: pymoveit_mtc.core.CostTerm) -> None

Specify a CostTerm for calculation of stage costs

setCostTerm(self: pymoveit_mtc.core.Task, arg0: Callable[[pymoveit_mtc.core.SubTrajectory, str], float]) -> None

Specify a function to calculate trajectory costs

setCostTerm(self: pymoveit_mtc.core.Task, arg0: Callable[[pymoveit_mtc.core.SubTrajectory], float]) -> None

Specify a function to calculate trajectory costs

property solutions¶: Successful Solutions of the stage (read-only)