MoveIt 2 Python Library

moveit is a Python library for interfacing with the core functionalities of MoveIt 2. The goal of this library is to provide a simplified interface for MoveIt 2 Python users.

This Python library depends on pybind11 for generating Python bindings. The project is split into the following folders:

├── docs                 # Sphinx documentation files
├── moveit               # Python library stubs; Python functionalities built on top of bindings
├── src/moveit           # pybind11 binding code
├── test                 # Unit and integration testing

Tutorials

We are continuing to add tutorials for the MoveIt 2 Python library. Of particular note is the fact that one can interact with MoveIt interactively since Python is an interpreted language, our tutorials demonstrate this through leveraging Jupyter notebooks. For further details please consult the MoveIt 2 tutorials site.

Contribution Guidelines

Community contributions are welcome.

For detailed contribution guidelines please consult the official MoveIt contribution guidelines.

Citing the Library

If you use this library in your work please use the following citation:

@software{fagan2023moveitpy,
  author = {Fagan, Peter David},
  title = {{MoveIt 2 Python Library: A Software Library for Robotics Education and Research}},
  url = {https://github.com/ros-planning/moveit2/tree/main/moveit_py},
  year = {2023}
}

Acknowledgements

Thank you to the Google Summer of Code program for sponsoring the development of this Python library. Thank you to the MoveIt maintainers Henning Kayser (@henningkayser) and Michael Goerner (@v4hn) for their guidance as supervisors of my GSoC project. Finally thank you to the ML Collective for providing compute support for this project.

Changelog for package moveit_py

2.7.4 (2023-05-18)

• Rename named_target_state_values to get_named_target_state_values (#2181)
• Deprecate MoveItCpp::execute() use of blocking flag (#1984)
• Add Python binding for link_model_names and get_only_one_end_effector_tip + update stubs (#1985)
• Contributors: Jafar, Lucas Wendland

2.7.3 (2023-04-24)

2.7.2 (2023-04-18)

• Fix Formatting in Python Documentation (#2085)

  • fix formatting in docs

  * Fix clang-tidy warnings ---------Co-authored-by: Tyler Weaver <maybe@tylerjw.dev> Co-authored-by: Tyler Weaver <tyler@picknik.ai> Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

• Update moveit_py \'get_planning_scene_monitor\' to return NonConst (#2098) Co-authored-by: Jafar <cafer.abdi@gmail.com>

• Fix MoveItCpp issues (port from MoveIt1) (#2001) * Fix MoveitCpp\'s const member accessors They should return a ConstPtr instead of a const Ptr&!

  • Fix SEVERE ClassLoader warning when releasing MoveItCpp
  • PSM was released before copy of its RobotModel -> removed extra RobotModel copy
  • clearContents() was broken:
  • resets in wrong order: psm_ should be last

  - trajectory_execution_manager_ was missing I suggest to omit clearContents() and rely on the (correct) ordering of member variables. While this is not explicit, we ensure that we don\'t miss any newly added member variable. Fix: https://github.com/ros-planning/moveit2/issues/1597 ---------Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Co-authored-by: Jafar <cafer.abdi@gmail.com> Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> Co-authored-by: JafarAbdi <jafar.uruc@gmail.com>

• Extract parallel planning from moveit cpp (#2043)

  • Add parallel_planning_interface
  • Add parallel planning interface
  • Rename package to pipeline_planning_interface
  • Move plan_responses_container into own header + source file
  • Add plan_responses_contrainer source file
  • Add solution selection and stopping criterion function files
  • Remove parallel planning from moveit_cpp
  • Move parallel planning into planning package
  • Update moveit_cpp
  • Drop planning_interface changes
  • Add documentation
  • Update other moveit packages
  • Remove removed header
  • Address CI complains
  • Address clang-tidy complains
  • Address clang-tidy complains 2
  • Address clang-tidy complains 3
  • Extract planning pipeline map creation function from moveit_cpp
  • Cleanup comment
  • Use const moveit::core::RobotModelConstPtr&
  • Formatting
  • Add header descriptions
  • Remove superfluous TODOs
  • Cleanup

• moveit_py citation (#2029)

• Added set_robot_trajectory_msg to python bindings (#2050)

• Contributors: Jens Vanhooydonck, Peter David Fagan, Robert Haschke, Sebastian Jahr