niryo_libraries.moveit_commander.move_group.MoveGroupCommander

Specify the group name for which to construct this commander instance. Throws an exception if there is an initialization error.

Enable/disable looking around for motion planning

Enable/disable replanning

Given the name of an object existing in the planning scene, attach it to a link. The link used is specified by the second argument. If left unspecified, the end-effector link is used, if one is known. If there is no end-effector link, the first link in the group is used. If no link is identified, failure is reported. True is returned if an attach request was succesfully sent to the move_group node. This does not verify that the attach request also was successfuly applied by move_group.

Clear the maximum cartesian link speed.

Specify that no path constraints are to be used during motion planning

Clear the pose target for a particular end-effector

Clear all known pose targets

Specify that no trajectory constraints are to be used during motion planning

Compute a sequence of waypoints that make the end-effector move in straight line segments that follow the poses specified as waypoints. Configurations are computed for every eef_step meters; The jump_threshold specifies the maximum distance in configuration space between consecutive points in the resultingpath; Kinematic constraints for the path given by path_constraints will be met for every point along the trajectory, if they are not met, a partial solution will be returned. The return value is a tuple: a fraction of how much of the path was followed, the actual RobotTrajectory.

Returns a MotionPlanRequest filled with the current goals of the move_group_interface

Given the name of a link, detach the object(s) from that link. If no such link exists, the name is interpreted as an object name. If there is no name specified, an attempt is made to detach all objects attached to any link in the group.

Takes a moveit_msgs RobotState and enforces the state bounds, based on the C++ RobotState enforceBounds()

Execute a previously planned path

Forget a stored joint configuration

Get the active joints of this group

Get the current configuration of the group as a list (these are values published on /joint_states)

Get the current pose of the end-effector of the group. Throws an exception if there is not end-effector.

Get a list of 3 elements defining the [roll, pitch, yaw] of the end-effector. Throws an exception if there is not end-effector.

Get the current state of the robot.

Get the current state of the robot bounded.

Get the name of the link that is considered to be an end-effector. Return an empty string if there is no end-effector.

Get the tolerance for achieving a joint goal (distance for each joint variable)

When moving to an orientation goal or to a pose goal, the tolerance for the goal orientation is specified as the distance (roll, pitch, yaw) to the target origin of the end-effector

When moving to a position goal or to a pose goal, the tolerance for the goal position is specified as the radius a sphere around the target origin of the end-effector

Return a tuple of goal tolerances: joint, position and orientation.

Get the description of the planner interface (list of planner ids)

Get the jacobian matrix of the group as a list

Undocumented

Get the joints of this group

Get a list of names for the constraints specific for this group, as read from the warehouse

Get the name of the group this instance was initialized for

Get a dictionary of joint values of a named target

Get a list of all the names of joint configurations.

Get the acutal path constraints in form of a moveit_msgs.msgs.Constraints

Get the current planner_id (e.g. RRTConnect, LIN) of the currently selected pipeline

Get the name of the frame where all planning is performed

Get the current planning_pipeline_id (e.g. ompl, pilz_industrial_motion_planner)

Specify the amount of time to be used for motion planning.

Get the reference frame assumed for poses of end-effectors

Undocumented

Undocumented

Get a dictionary that maps names to joint configurations for the group

Get the actual trajectory constraints in form of a moveit_msgs.msgs.TrajectoryConstraints

Return the number of variables used to parameterize a state in this group (larger or equal to number of DOF)

Set the target of the group and then move the group to the specified target

Check if this group has a link that is considered to be an end effector

Set the maximum Cartesian link speed. Only positive real values are allowed. The unit is meter per second.

Pick the named object. A grasp message, or a list of Grasp messages can also be specified as argument.

Place the named object at a particular location in the environment or somewhere safe in the world if location is not provided

Return a tuple of the motion planning results such as (success flag : boolean, trajectory message : RobotTrajectory,

planning time : float, error code : MoveitErrorCodes)

Record the specified joint configuration of the group under the specified name. If no values are specified, the current state of the group is recorded.

Undocumented

Specify which database to connect to for loading possible path constraints

Set the name of the link to be considered as an end effector

Set the tolerance for a target joint configuration

Set the tolerance for a target end-effector orientation

Set the tolerance for a target end-effector position

Set the joint, position and orientation goal tolerances simultaneously

Specify a target joint configuration for the group. - if the type of arg1 is one of the following: dict, list, JointState message, then no other arguments should be provided. The dict should specify pairs of joint variable names and their target values, the list should specify all the variable values for the group. The JointState message specifies the positions of some single-dof joints. - if the type of arg1 is string, then arg2 is expected to be defined and be either a real value or a list of real values. This is interpreted as setting a particular joint to a particular value. - if the type of arg1 is Pose or PoseStamped, both arg2 and arg3 could be defined. If arg2 or arg3 are defined, their types must be either string or bool. The string type argument is interpreted as the end-effector the pose is specified for (default is to use the default end-effector), and the bool is used to decide whether the pose specified is approximate (default is false). This situation allows setting the joint target of the group by calling IK. This does not send a pose to the planner and the planner will do no IK. Instead, one IK solution will be computed first, and that will be sent to the planner.

Set a scaling factor to reduce the maximum joint accelerations. Allowed values are in (0,1]. The default value is set in the joint_limits.yaml of the moveit_config package.

Set a scaling factor to reduce the maximum joint velocities. Allowed values are in (0,1]. The default value is set in the joint_limits.yaml of the moveit_config package.

Set a joint configuration by name. The name can be a name previlusy remembered with remember_joint_values() or a configuration specified in the SRDF.

Set the number of times the motion plan is to be computed from scratch before the shortest solution is returned. The default value is 1.

Specify a target orientation for the end-effector. Any position of the end-effector is acceptable.

Specify the path constraints to be used (as read from the database)

Specify which planner of the currently selected pipeline to use when motion planning (e.g. RRTConnect, LIN)

Specify which planning pipeline to use when motion planning (e.g. ompl, pilz_industrial_motion_planner)

Specify the amount of time to be used for motion planning.

Set the reference frame to assume for poses of end-effectors

Set the pose of the end-effector, if one is available. The expected input is a Pose message, a PoseStamped message or a list of 6 floats:

Set the pose of the end-effector, if one is available. The expected input is a list of poses. Each pose can be a Pose message, a list of 6 floats: [x, y, z, rot_x, rot_y, rot_z] or a list of 7 floats [x, y, z, qx, qy, qz, qw]

Specify a target position for the end-effector. Any orientation of the end-effector is acceptable.

Set a random joint configuration target

Specify a target orientation for the end-effector. Any position of the end-effector is acceptable.

Specify a start state for the group.

>>> from moveit_msgs.msg import RobotState
>>> from sensor_msgs.msg import JointState
>>> joint_state = JointState()
>>> joint_state.header = Header()
>>> joint_state.header.stamp = rospy.Time.now()
>>> joint_state.name = ['joint_a', 'joint_b']
>>> joint_state.position = [0.17, 0.34]
>>> moveit_robot_state = RobotState()
>>> moveit_robot_state.joint_state = joint_state
>>> group.set_start_state(moveit_robot_state)

Undocumented

Set the support surface name for a place operation

Specify the trajectory constraints to be used (setting from database is not implemented yet)

Set the workspace for the robot as either [], [minX, minY, maxX, maxY] or [minX, minY, minZ, maxX, maxY, maxZ]

Get the current pose of the end effector, add value to the corresponding axis (0..5: X, Y, Z, R, P, Y) and set the new pose as the pose target

Stop the current execution, if any