Pure python interface to move_group action. More...
Public Member Functions | |
| def | __init__ (self, group, frame, listener=None, plan_only=False, move_group="move_group") |
| Constructor for this utility. More... | |
| def | get_move_action (self) |
| def | moveToJointPosition (self, joints, positions, tolerance=0.01, wait=True, kwargs) |
| Move the arm to set of joint position goals. More... | |
| def | moveToPose (self, pose_stamped, gripper_frame, tolerance=0.01, wait=True, kwargs) |
| Move the arm, based on a goal pose_stamped for the end effector. More... | |
| def | setPlannerId (self, planner_id) |
| Sets the planner_id used for all future planning requests. More... | |
| def | setPlanningTime (self, time) |
| Set default planning time to be used for future planning request. More... | |
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
◆ __init__()
| def moveit_python.move_group_interface.MoveGroupInterface.__init__ | ( | self, | |
| group, | |||
| frame, | |||
listener = None, |
|||
plan_only = False, |
|||
move_group = "move_group" |
|||
| ) |
Constructor for this utility.
- Parameters
-
group Name of the MoveIt! group to command frame Name of the fixed frame in which planning happens move_group Name of the action server 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 46 of file move_group_interface.py.
Member Function Documentation
◆ get_move_action()
| def moveit_python.move_group_interface.MoveGroupInterface.get_move_action | ( | self | ) |
Definition at line 60 of file move_group_interface.py.
◆ moveToJointPosition()
| 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 69 of file move_group_interface.py.
◆ moveToPose()
| def moveit_python.move_group_interface.MoveGroupInterface.moveToPose | ( | self, | |
| pose_stamped, | |||
| gripper_frame, | |||
tolerance = 0.01, |
|||
wait = True, |
|||
| kwargs | |||
| ) |
Move the arm, based on a goal pose_stamped for the end effector.
Definition at line 167 of file move_group_interface.py.
◆ setPlannerId()
| def moveit_python.move_group_interface.MoveGroupInterface.setPlannerId | ( | self, | |
| planner_id | |||
| ) |
Sets the planner_id used for all future planning requests.
- Parameters
-
planner_id The string for the planner id, set to None to clear
Definition at line 273 of file move_group_interface.py.
◆ setPlanningTime()
| def moveit_python.move_group_interface.MoveGroupInterface.setPlanningTime | ( | self, | |
| time | |||
| ) |
Set default planning time to be used for future planning request.
Definition at line 277 of file move_group_interface.py.
Member Data Documentation
◆ _action
|
private |
Definition at line 49 of file move_group_interface.py.
◆ _fixed_frame
|
private |
Definition at line 48 of file move_group_interface.py.
◆ _group
|
private |
Definition at line 47 of file move_group_interface.py.
◆ _listener
|
private |
Definition at line 53 of file move_group_interface.py.
◆ plan_only
| moveit_python.move_group_interface.MoveGroupInterface.plan_only |
Definition at line 56 of file move_group_interface.py.
◆ planner_id
| moveit_python.move_group_interface.MoveGroupInterface.planner_id |
Definition at line 57 of file move_group_interface.py.
◆ planning_time
| moveit_python.move_group_interface.MoveGroupInterface.planning_time |
Definition at line 58 of file move_group_interface.py.
The documentation for this class was generated from the following file: