![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
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moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
![]() |
moveit_python package from moveit_python repomoveit_python |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 0.4.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/mikeferguson/moveit_python.git |
VCS Type | git |
VCS Version | ros1 |
Last Updated | 2023-01-07 |
Dev Status | MAINTAINED |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
moveit_python
This is a set of pure-python bindings to the ROS interface of MoveIt! based on the earlier moveit_utils package that was developed as part of the chess_player package.
Overview
There are three interfaces currently:
- MoveGroupInterface – used to move the arm using the move_group action.
- PlanningSceneInterface – used to add/remove collision and attached objects. Can also set the colors of objects.
- PickPlaceInterface – used to interface to the pick and place actions.
MoveGroupInterface
The MoveGroupInterface is quite easy to use:
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
g = MoveGroupInterface("planning_group_name", "base_link")
Obviously, you might need different values for base_link, and your planning group is probably not called “planning_group_name”.
PlanningSceneInterface
The PlanningSceneInterface allows you to easily insert and remove objects from the MoveIt! planning scene. Starting with version 0.3.0, this module will try to use the newer service-based approach to apply planning scene updates, as this is much more robust than publishing messages over topics asynchronously.
import rospy
from moveit_python import *
rospy.init_node("moveit_py")
# create a planning scene interface, provide name of root link
p = PlanningSceneInterface("base_link")
# add a cube of 0.1m size, at [1, 0, 0.5] in the base_link frame
p.addCube("my_cube", 0.1, 1, 0, 0.5)
# do something
# remove the cube
p.removeCollisionObject("my_cube")
If for some reason you would prefer to not use the service, simply set “use_service” to false in the various add/remove calls. Calling waitForSync will republish messages as needed to synchronize the planning scene between your script and MoveIt.
p.addCube("my_cube", 0.1, 1, 0, 0.5, use_service=False)
p.addCube("my_other_cube", 0.1, 2, 0, 0.5, use_service=False)
p.waitForSync()
PickPlaceInterface
import rospy
from moveit_python import *
from moveit_msgs.msg import Grasp, PlaceLocation
rospy.init_node("moveit_py")
# provide arm group and gripper group names
# also takes a third parameter "plan_only" which defaults to False
p = PickPlaceInterface("arm", "gripper")
g = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
p.pickup("object_name", [g, ], support_name = "supporting_surface")
l = PlaceLocation()
# fill in l
p.place("object_name" [l, ], goal_is_eef = True, support_name = "supporting_surface")
Migration from moveit_utils
- GraspingInterface renamed to PickPlaceInterface
- The pick/place functions now return the entire action result, in moveit_utils they returned only the error_code. To access the error code as it used to be returned, you would use result.error_code.val
- ObjectManager renamed to PlanningSceneInterface
- remove function is now removeCollisionObject and removeAttachedObject
- ArmInterface renamed to MoveGroupInterface
Changelog for package moveit_python
0.4.5 (2023-01-03)
- fix CI after adding setup tools dependency
- Contributors: Michael Ferguson
0.4.4 (2022-12-23)
- use setuptools (#33) setup from distutils is deprecated and will be removed eventually. It already breaks on Debian testing.
- Contributors: Michael Görner
0.4.3 (2022-01-14)
- fix: Add [attached_object_touch_links]{.title-ref} to pickup (#31)
- Contributors: Kai Waelti
0.4.2 (2021-06-28)
- New cone primitive and box primitive frame fix
(#30)
- Box primitive frame independent of planning scene
- Added cone solid primitive
- Contributors: Kiran Prasad
0.4.1 (2021-02-11)
- add support for objects not in fixed_frame
- Contributors: Michael Ferguson
0.4.0 (2021-01-17)
- various fixes for noetic/python3 (#28)
- Contributors: Michael Ferguson
0.3.6 (2020-12-25)
- update package.xml for python3 support
- Contributors: Michael Ferguson
0.3.5 (2020-12-25)
- use "is None"
- Fixed a comparison and logical statement order issue. (#26)
- fix pyassimp indices bug (#27)
- Contributors: Karl Kangur, Michael Ferguson, Shingo Kitagawa
0.3.4 (2020-04-22)
- Fixed error message when removing attached object. (#25) Co-authored-by: Karl Kangur <<karl.kangur@exwzd.com>>
- Merge pull request #24 from v4hn/pr-master-python3 python3 compatible API & syntax
- python3 compatible API & syntax
- Contributors: Karl Kangur, Michael Ferguson, v4hn
0.3.3 (2019-11-21)
- add sphere to planning scene interface
- add move_group parameter to MoveGroup class
- Contributors: Michael Ferguson, arwtyxouymz
0.3.2 (2019-11-14)
- enable pyassimp for melodic
- update maintainer email
- Contributors: Michael Ferguson, Shingo Kitagawa
0.3.1 (2018-08-13)
- add missing namespace to apply service
- Contributors: Michael Ferguson
0.3.0 (2018-07-31)
- add namespace functionality on planning_scene_interface.py
- additional cleanup/documentation
- use apply_service for colors
- rename sentUpdate to sendUpdate, add docs
- rename wait param to use_service (the meaning has changed)
- remove some spammy logging
- don't waitForSync when using service
- Merge pull request #10 from alemme/master adapt the code for the [apply]{.title-ref} service
- added services to add objects to environment and attach them. Following http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#interlude-synchronous-vs-asynchronous-updates
- Contributors: Benjamin-Tan, Lemme, Michael Ferguson
0.2.17 (2016-08-23)
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
catkin | |
actionlib | |
geometry_msgs | |
moveit_msgs | |
rospy | |
shape_msgs | |
tf |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
fetch_moveit_config | |
simple_grasping |
Launch files
Messages
Services
Plugins
Recent questions tagged moveit_python at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.