pymoveit_mtc.stages.ComputeIK¶

class ComputeIK(self: pymoveit_mtc.stages.ComputeIK, name: str, stage: pymoveit_mtc.core.Stage)¶

Bases: Stage

Wrapper for any pose generator stage to compute the inverse kinematics for a pose in Cartesian space.

The wrapper reads a target_pose from the interface state of solutions provided by the wrapped stage. This cartesian pose (PoseStamped msg) is used as a goal pose for inverse kinematics.

Usually, the end effector’s parent link or the group’s tip link is used as the inverse kinematics frame, which should be moved to the goal frame. However, any other inverse kinematics frame can be defined (which is linked to the tip of the group).

Properties of the internally received InterfaceState can be forwarded to the newly generated, externally exposed InterfaceState.

Take a look at the How-To-Guides for an implementation of a task hierarchy that makes use of the ComputeIK stage.

Methods

`init`	Initialize the stage once before planning.
`reset`	Reset the Stage.
`setCostTerm`	Overloaded function.

Attributes

`constraints`	additional constraints to obey
`default_pose`	Default joint pose of the active group (defines cost of the inverse kinematics).
`eef`	Specify which end effector of the active planning group should be used.
`failures`	Failed Solutions of the stage (read-only)
`forwarded_properties`	set of properties forwarded from input to output InterfaceState
`group`	Specify which planning group should be used.
`ignore_collisions`	Specify if collisions with other members of the planning scene are allowed.
`ik_frame`	Specify the frame with respect to which the inverse kinematics should be calculated.
`marker_ns`	Namespace for any markers that are associated to the stage
`max_ik_solutions`	max number of solutions to return
`min_solution_distance`	reject solution that are closer than this to previously found solutions
`name`	name of the stage displayed e.g.
`properties`	PropertyMap of the stage (read-only)
`solutions`	Successful Solutions of the stage (read-only)
`target_pose`	Specify the pose on which the inverse kinematics should be calculated on.
`timeout`	Maximally allowed time [s] per computation step

class PropertyInitializerSource(self: pymoveit_mtc.core.Stage.PropertyInitializerSource, value: int)¶

Bases: pybind11_object

OR-combinable flags defining a source to initialize a specific property from. Used in pymoveit_mtc.core.PropertyMap configureInitFrom().

Members:

PARENT : Inherit properties from parent stage

INTERFACE : Inherit properties from the input InterfaceState

property name¶

property constraints¶: additional constraints to obey

property default_pose¶

Default joint pose of the active group (defines cost of the inverse kinematics).

Type:: str

property eef¶

Specify which end effector of the active planning group should be used.

Type:: str

property failures¶

Failed Solutions of the stage (read-only)

Type:: Solutions

property forwarded_properties¶

set of properties forwarded from input to output InterfaceState

Type:: list

property group¶

Specify which planning group should be used.

Type:: str

property ignore_collisions¶

Specify if collisions with other members of the planning scene are allowed.

Type:: bool

property ik_frame¶

Specify the frame with respect to which the inverse kinematics should be calculated.

Type:: PoseStamped

init(self: pymoveit_mtc.core.Stage, robot_model: moveit::core::RobotModel) → None¶: Initialize the stage once before planning. Will setup properties configured for initialization from parent.

property marker_ns¶

Namespace for any markers that are associated to the stage

Type:: str

property max_ik_solutions¶

max number of solutions to return

Type:: uint

property min_solution_distance¶: reject solution that are closer than this to previously found solutions

property name¶

name of the stage displayed e.g. in rviz

Type:: str

property properties¶

PropertyMap of the stage (read-only)

Type:: PropertyMap

reset(self: pymoveit_mtc.core.Stage) → None¶: Reset the Stage. Clears all solutions, interfaces and inherited properties

setCostTerm(*args, **kwargs)¶

Overloaded function.

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

Specify a CostTerm for calculation of stage costs

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

Specify a function to calculate trajectory costs

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

Specify a function to calculate trajectory costs

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

property target_pose¶

Specify the pose on which the inverse kinematics should be calculated on. Since this property should almost always be set in the Interface State which is sent by the child, if possible, avoid setting it manually.

Type:: PoseStamped

property timeout¶

Maximally allowed time [s] per computation step

Type:: float