pymoveit_mtc.stages.CurrentState¶

class CurrentState(self: pymoveit_mtc.stages.CurrentState, name: str = 'current state')¶

Bases: Stage

Fetch the current PlanningScene / real robot state via the get_planning_scene service. Usually, this stage should be used once at the beginning of your pipeline to start from the current state.

#! /usr/bin/env python3
# -*- coding: utf-8 -*-

from moveit.task_constructor import core, stages
from py_binding_tools import roscpp_init
import time

roscpp_init("mtc_tutorial")

# Create a task
task = core.Task()
task.name = "current state"

# Get the current robot state
currentState = stages.CurrentState("current state")

# Add the stage to the task hierarchy
task.add(currentState)

if task.plan():
    task.publish(task.solutions[0])
time.sleep(1)

Methods

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

Attributes

`failures`	Failed Solutions of the stage (read-only)
`forwarded_properties`	set of properties forwarded from input to output InterfaceState
`marker_ns`	Namespace for any markers that are associated to the stage
`name`	name of the stage displayed e.g. in rviz.
`properties`	PropertyMap of the stage (read-only)
`solutions`	Successful Solutions of the stage (read-only)
`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 failures¶

Failed Solutions of the stage (read-only)

Type:: Solutions

property forwarded_properties¶

set of properties forwarded from input to output InterfaceState

Type:: list

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 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 timeout¶

Maximally allowed time [s] per computation step

Type:: float