moveit_python.move_group_interface.MoveGroupInterface Class Reference

Pure python interface to move_group action. More...

Inheritance diagram for moveit_python.move_group_interface.MoveGroupInterface:

Public Member Functions
def	__init__ (self, group, frame, listener=None, plan_only=False)
	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

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.

Member Function Documentation

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 68 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
	)

Move the arm, based on a goal pose_stamped for the end effector.

Definition at line 166 of file move_group_interface.py.

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 272 of file move_group_interface.py.

def moveit_python.move_group_interface.MoveGroupInterface.setPlanningTime	(		self,
			time
	)

Set default planning time to be used for future planning request.

Definition at line 276 of file move_group_interface.py.

Member Data Documentation

moveit_python.move_group_interface.MoveGroupInterface._action

private

Definition at line 48 of file move_group_interface.py.

moveit_python.move_group_interface.MoveGroupInterface._fixed_frame

private

Definition at line 47 of file move_group_interface.py.

moveit_python.move_group_interface.MoveGroupInterface._group

private

Definition at line 46 of file move_group_interface.py.

moveit_python.move_group_interface.MoveGroupInterface._listener

private

Definition at line 52 of file move_group_interface.py.

moveit_python.move_group_interface.MoveGroupInterface.plan_only

Definition at line 55 of file move_group_interface.py.

moveit_python.move_group_interface.MoveGroupInterface.planner_id

Definition at line 56 of file move_group_interface.py.

moveit_python.move_group_interface.MoveGroupInterface.planning_time

Definition at line 57 of file move_group_interface.py.

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The documentation for this class was generated from the following file:

• move_group_interface.py