Public Member Functions | Public Attributes | Private Attributes | List of all members
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:
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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
groupName of the MoveIt! group to command
frameName of the fixed frame in which planning happens
move_groupName of the action server
listenerA TF listener instance (optional, will create a new one if None)
plan_onlyShould 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_idThe 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

moveit_python.move_group_interface.MoveGroupInterface._action
private

Definition at line 49 of file move_group_interface.py.

◆ _fixed_frame

moveit_python.move_group_interface.MoveGroupInterface._fixed_frame
private

Definition at line 48 of file move_group_interface.py.

◆ _group

moveit_python.move_group_interface.MoveGroupInterface._group
private

Definition at line 47 of file move_group_interface.py.

◆ _listener

moveit_python.move_group_interface.MoveGroupInterface._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:


moveit_python
Author(s): Michael Ferguson
autogenerated on Sat Jan 7 2023 03:09:45