pymoveit_mtc.stages

Provides wrappers of standard MTC stages. Import as moveit.task_constructor.stages.

Classes

ComputeIK	Wrapper for any pose generator stage to compute the inverse kinematics for a pose in Cartesian space.
Connect	Connect arbitrary InterfaceStates by motion planning.
CurrentState	Fetch the current PlanningScene / real robot state via the get_planning_scene service.
FixCollisionObjects	Test for collisions and find a correction for applicable objects.
FixedState	Spawn a pre-defined PlanningScene state.
GenerateGraspPose	GenerateGraspPose stage derives from monitoring generator and can be used to generate poses for grasping.
GeneratePlacePose	GeneratePlacePose stage derives from monitoring generator and generates poses for the place pipeline.
GeneratePose	Monitoring generator stage which can be used to generate a pose, based on solutions provided by the monitored stage.
GenerateRandomPose	Monitoring generator stage which can be used to generate random poses, based on solutions provided by the monitored stage and the specified pose dimension samplers.
MergeMode	Define the merge strategy to use when performing planning operations
ModifyPlanningScene	Apply modifications to the PlanningScene w/o moving the robot
MoveRelative	Perform a Cartesian motion relative to some link.
MoveTo	Compute a trajectory between the robot state from the interface state of the preceeding stage and a specified goal.
Pick	The Pick stage is a specialization of the PickPlaceBase class, which wraps the pipeline to pick or place an object with a given end effector.
Place	The Place stage is a specialization of the PickPlaceBase class, which wraps the pipeline to pick or place an object with a given end effector.
PoseDimension	Define the dimensions of a pose that can be randomized.
SimpleGrasp	Specialization of SimpleGraspBase to realize grasping.
SimpleGraspBase	Abstract base class for grasping and releasing
SimpleUnGrasp	Specialization of SimpleGraspBase to realize ungrasping