Pure python interface to move_group action. More...

Public Member Functions
def	__init__
	Constructor for this utility.
def	get_move_action
def	moveToJointPosition
	Move the arm to set of joint position goals.
def	moveToPose
	Move the arm, based on a goal pose_stamped for the end effector.
def	setPlannerId
	Sets the planner_id used for all future planning requests.
def	setPlanningTime
	Set default planning time to be used for future planning request.
Public Attributes
	plan_only
	planner_id
	planning_time
Private Attributes
	_action
	_fixed_frame
	_group
	_listener

Detailed Description

Pure python interface to move_group action.

Definition at line 38 of file move_group_interface.py.

Constructor & Destructor Documentation

def moveit_python.move_group_interface.MoveGroupInterface.__init__	(	self,
		group,
		frame,
		listener = `None`,
		plan_only = `False`
	)

Constructor for this utility.

Parameters:

group	Name of the MoveIt! group to command
frame	Name of the fixed frame in which planning happens
listener	A TF listener instance (optional, will create a new one if None)
plan_only	Should we only plan, but not execute?

Definition at line 45 of file move_group_interface.py.

def moveit_python.move_group_interface.MoveGroupInterface.get_move_action ( self )

Definition at line 59 of file move_group_interface.py.

def moveit_python.move_group_interface.MoveGroupInterface.moveToJointPosition	(	self,
		joints,
		positions,
		tolerance = `0.01`,
		wait = `True`,
		kwargs
	)

Move the arm to set of joint position goals.

Definition at line 63 of file move_group_interface.py.

def moveit_python.move_group_interface.MoveGroupInterface.moveToPose	(	self,
		pose_stamped,
		gripper_frame,
		tolerance = `0.01`,
		wait = `True`,
		kwargs
	)