pymoveit_mtc.stages.GenerateGraspPose¶

class GenerateGraspPose(self: pymoveit_mtc.stages.GenerateGraspPose, name: str = 'Generate Grasp Pose')¶

Bases: MonitoringGenerator

GenerateGraspPose stage derives from monitoring generator and can be used to generate poses for grasping. Set the desired attributes of the grasp using the stages properties. Take a look at the How-To-Guides for a snippet that demonstrates usage of the GenerateGraspPose stage.

Methods

`canCompute`	Return `True` if the stage can still produce solutions.
`compute`	Compute an actual solution and `spawn` an `InterfaceState`
`init`	Initialize the stage once before planning.
`reset`	Reset the Stage.
`setCostTerm`	Overloaded function.
`setMonitoredStage`	Set the monitored `Stage`
`spawn`	Spawn an `InterfaceState` to both, start and end interface

Attributes

`angle_delta`	Angular step distance in rad with which positions around the object are sampled.
`eef`	Name of the end effector that should be used for grasping
`failures`	Failed Solutions of the stage (read-only)
`forwarded_properties`	set of properties forwarded from input to output InterfaceState
`grasp`	Name of the grasp pose
`marker_ns`	Namespace for any markers that are associated to the stage
`name`	name of the stage displayed e.g.
`object`	Name of the Object in the planning scene, which should be grasped
`pregrasp`	Name of the pre-grasp pose
`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 angle_delta¶

Angular step distance in rad with which positions around the object are sampled.

Type:: float

canCompute(self: pymoveit_mtc.core.Generator) → bool¶: Return True if the stage can still produce solutions.

compute(self: pymoveit_mtc.core.Generator) → None¶: Compute an actual solution and spawn an InterfaceState

property eef¶

Name of the end effector that should be used for grasping

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 grasp¶

Name of the grasp pose

Type:: str

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 object¶

Name of the Object in the planning scene, which should be grasped

Type:: str

property pregrasp¶

Name of the pre-grasp pose

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

setMonitoredStage(self: pymoveit_mtc.core.MonitoringGenerator, stage: pymoveit_mtc.core.Stage) → None¶: Set the monitored Stage

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

spawn(self: pymoveit_mtc.core.Generator, state: pymoveit_mtc.core.InterfaceState, cost: float) → None¶: Spawn an InterfaceState to both, start and end interface

property timeout¶

Maximally allowed time [s] per computation step

Type:: float