pymoveit_mtc.stages.MoveTo¶

class MoveTo(self: pymoveit_mtc.stages.MoveTo, name: str, planner: pymoveit_mtc.core.PlannerInterface)¶

Bases: PropagatingEitherWay

Compute a trajectory between the robot state from the interface state of the preceeding stage and a specified goal.

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

Methods

`computeBackward`	Compute backward
`computeForward`	Compute forward
`init`	Initialize the stage once before planning.
`reset`	Reset the Stage.
`restrictDirection`	Explicitly specify computation direction
`setCostTerm`	Overloaded function.
`setGoal`	Overloaded function.

Attributes

`failures`	Failed Solutions of the stage (read-only)
`forwarded_properties`	set of properties forwarded from input to output InterfaceState
`group`	Planning group which should be utilized for planning and execution.
`ik_frame`	IK reference frame for the goal pose
`marker_ns`	Namespace for any markers that are associated to the stage
`name`	name of the stage displayed e.g.
`path_constraints`	Set path constraints via the corresponding moveit message type
`properties`	PropertyMap of the stage (read-only)
`solutions`	Successful Solutions of the stage (read-only)
`timeout`	Maximally allowed time [s] per computation step

class Direction(self: pymoveit_mtc.core.PropagatingEitherWay.Direction, value: int)¶

Bases: pybind11_object

Propagation direction

Members:

AUTO

FORWARD : Propagating forwards from start to end

BACKWARD : Propagating backwards from end to start

property name¶

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¶

computeBackward(self: pymoveit_mtc.core.PropagatingEitherWay, arg0: pymoveit_mtc.core.InterfaceState) → None¶: Compute backward

computeForward(self: pymoveit_mtc.core.PropagatingEitherWay, arg0: pymoveit_mtc.core.InterfaceState) → None¶: Compute forward

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¶

Planning group which should be utilized for planning and execution.

Type:: str

property ik_frame¶

IK reference frame for the goal pose

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 name¶

name of the stage displayed e.g. in rviz

Type:: str

property path_constraints¶

Set path constraints via the corresponding moveit message type

Type:: Constraints

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

restrictDirection(self: pymoveit_mtc.core.PropagatingEitherWay, arg0: moveit::task_constructor::PropagatingEitherWay::Direction) → None¶: Explicitly specify computation direction

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

setGoal(*args, **kwargs)¶

Overloaded function.

setGoal(self: pymoveit_mtc.stages.MoveTo, goal: geometry_msgs::PoseStamped_<std::allocator<void> >) -> None

Move link to a given PoseStamped
setGoal(self: pymoveit_mtc.stages.MoveTo, goal: geometry_msgs::PointStamped_<std::allocator<void> >) -> None

Move link to given PointStamped, keeping current orientation
setGoal(self: pymoveit_mtc.stages.MoveTo, goal: moveit_msgs::RobotState_<std::allocator<void> >) -> None

Move joints specified in RobotState to their target values
setGoal(self: pymoveit_mtc.stages.MoveTo, goal: dict[str, float]) -> None

Move joints by name to their mapped target value provided by dict goal argument
setGoal(self: pymoveit_mtc.stages.MoveTo, goal: str) -> None

Move joint model group to given named pose provided as a str argument

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

property timeout¶

Maximally allowed time [s] per computation step

Type:: float