pymoveit_mtc.stages.ModifyPlanningScene¶

class ModifyPlanningScene(self: pymoveit_mtc.stages.ModifyPlanningScene, name: str = 'modify planning scene')¶

Bases: Stage

Apply modifications to the PlanningScene w/o moving the robot

This stage takes the incoming planning scene and applies previously scheduled changes to it, for example:

Modify allowed collision matrix, enabling or disabling collision pairs
Attach or detach objects to robot links
Add or remove objects

For an example, see How-To-Guides.

Methods

`addObject`	Add a CollisionObject to the planning scene
`allowCollisions`	Overloaded function.
`attachObject`	Attach an object to a robot link
`attachObjects`	Attach multiple objects to a robot link
`detachObject`	Detach an object from a robot link
`detachObjects`	Detach multiple objects from a robot link
`init`	Initialize the stage once before planning.
`removeObject`	Remove a CollisionObject from the planning scene
`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.
`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¶

addObject(self: pymoveit_mtc.stages.ModifyPlanningScene, collision_object: moveit_msgs::CollisionObject_<std::allocator<void> >) → None¶: Add a CollisionObject to the planning scene

allowCollisions(*args, **kwargs)¶

Overloaded function.

allowCollisions(self: pymoveit_mtc.stages.ModifyPlanningScene, object: str, enable_collision: bool = True) -> None

Allow or disable all collisions involving the given object

allowCollisions(self: pymoveit_mtc.stages.ModifyPlanningScene, first: object, second: object, enable_collision: bool = True) -> None

Allow or disable collisions between links and objects

attachObject(self: pymoveit_mtc.stages.ModifyPlanningScene, name: str, link: str) → None¶: Attach an object to a robot link

attachObjects(self: pymoveit_mtc.stages.ModifyPlanningScene, names: object, attach_link: str, attach: bool = True) → None¶: Attach multiple objects to a robot link

detachObject(self: pymoveit_mtc.stages.ModifyPlanningScene, name: str, link: str) → None¶: Detach an object from a robot link

detachObjects(self: pymoveit_mtc.stages.ModifyPlanningScene, names: object, attach_link: str) → None¶: Detach multiple objects from a robot link

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

removeObject(self: pymoveit_mtc.stages.ModifyPlanningScene, name: str) → None¶: Remove a CollisionObject from the planning scene

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