Inheritance diagram for moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder:

Collaboration diagram for moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder:

Public Member Functions
def	__init__ (self, str robot_name, robot_description="robot_description", Optional[str] package_name=None)

def	robot_description (self, Optional[str] file_path=None, dict[SomeSubstitutionsType, SomeSubstitutionsType] mappings=None)

def	robot_description_semantic (self, Optional[str] file_path=None, dict[SomeSubstitutionsType, SomeSubstitutionsType] mappings=None)

def	robot_description_kinematics (self, Optional[str] file_path=None)

def	joint_limits (self, Optional[str] file_path=None)

def	moveit_cpp (self, Optional[str] file_path=None)

def	trajectory_execution (self, Optional[str] file_path=None, bool moveit_manage_controllers=True)

def	planning_scene_monitor (self, bool publish_planning_scene=True, bool publish_geometry_updates=True, bool publish_state_updates=True, bool publish_transforms_updates=True, bool publish_robot_description=False, bool publish_robot_description_semantic=False)

def	sensors_3d (self, Optional[str] file_path=None)

def	planning_pipelines (self, str default_planning_pipeline=None, List[str] pipelines=None, bool load_all=True)

def	pilz_cartesian_limits (self, Optional[str] file_path=None)

def	to_moveit_configs (self)

def	to_dict (self, bool include_moveit_configs=True)

Detailed Description

Definition at line 138 of file moveit_configs_builder.py.

Constructor & Destructor Documentation

◆ init()

def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.__init__	(		self,
		str	robot_name,
			robot_description = `"robot_description"`,
		Optional[str]	package_name = `None`
	)

Definition at line 152 of file moveit_configs_builder.py.

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Member Function Documentation

◆ joint_limits()

def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.joint_limits	(		self,
		Optional[str]	file_path = `None`
	)

Load joint limits overrides.

:param file_path: Absolute or relative path to the joint limits yaml file (w.r.t. robot_name_moveit_config).
:return: Instance of MoveItConfigsBuilder with robot_description_planning loaded.

Definition at line 303 of file moveit_configs_builder.py.

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◆ moveit_cpp()

def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.moveit_cpp	(		self,
		Optional[str]	file_path = `None`
	)

Load MoveItCpp parameters.

:param file_path: Absolute or relative path to the MoveItCpp yaml file (w.r.t. robot_name_moveit_config).
:return: Instance of MoveItConfigsBuilder with moveit_cpp loaded.

Definition at line 318 of file moveit_configs_builder.py.

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◆ pilz_cartesian_limits()

def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.pilz_cartesian_limits	(		self,
		Optional[str]	file_path = `None`
	)

Load cartesian limits.

:param file_path: Absolute or relative path to the cartesian limits file (w.r.t. robot_name_moveit_config).
:return: Instance of MoveItConfigsBuilder with pilz_cartesian_limits loaded.

Definition at line 481 of file moveit_configs_builder.py.

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◆ planning_pipelines()

def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.planning_pipelines	(		self,
		str	default_planning_pipeline = `None`,
		List[str]	pipelines = `None`,
		bool	load_all = `True`
	)

Load planning pipelines parameters.

:param default_planning_pipeline: Name of the default planning pipeline.
:param pipelines: List of the planning pipelines to be loaded.
:param load_all: Only used if pipelines is None.
                 If true, loads all pipelines defined in config package AND this package.
                 If false, only loads the pipelines defined in config package.
:return: Instance of MoveItConfigsBuilder with planning_pipelines loaded.

Definition at line 422 of file moveit_configs_builder.py.

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◆ planning_scene_monitor()

def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.planning_scene_monitor	(		self,
		bool	publish_planning_scene = `True`,
		bool	publish_geometry_updates = `True`,
		bool	publish_state_updates = `True`,
		bool	publish_transforms_updates = `True`,
		bool	publish_robot_description = `False`,
		bool	publish_robot_description_semantic = `False`
	)

Definition at line 383 of file moveit_configs_builder.py.

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◆ robot_description()

def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.robot_description	(		self,
		Optional[str]	file_path = `None`,
		dict[SomeSubstitutionsType, SomeSubstitutionsType]	mappings = `None`
	)

Load robot description.

:param file_path: Absolute or relative path to the URDF file (w.r.t. robot_name_moveit_config).
:param mappings: mappings to be passed when loading the xacro file.
:return: Instance of MoveItConfigsBuilder with robot_description loaded.

Definition at line 211 of file moveit_configs_builder.py.

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◆ robot_description_kinematics()

def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.robot_description_kinematics	(		self,
		Optional[str]	file_path = `None`
	)

Load IK solver parameters.

:param file_path: Absolute or relative path to the kinematics yaml file (w.r.t. robot_name_moveit_config).
:return: Instance of MoveItConfigsBuilder with robot_description_kinematics loaded.

Definition at line 288 of file moveit_configs_builder.py.

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◆ robot_description_semantic()

def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.robot_description_semantic	(		self,
		Optional[str]	file_path = `None`,
		dict[SomeSubstitutionsType, SomeSubstitutionsType]	mappings = `None`
	)

Load semantic robot description.

:param file_path: Absolute or relative path to the SRDF file (w.r.t. robot_name_moveit_config).
:param mappings: mappings to be passed when loading the xacro file.
:return: Instance of MoveItConfigsBuilder with robot_description_semantic loaded.

Definition at line 252 of file moveit_configs_builder.py.

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◆ sensors_3d()

def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.sensors_3d	(		self,
		Optional[str]	file_path = `None`
	)

Load sensors_3d parameters.

:param file_path: Absolute or relative path to the sensors_3d yaml file (w.r.t. robot_name_moveit_config).
:return: Instance of MoveItConfigsBuilder with robot_description_planning loaded.

Definition at line 405 of file moveit_configs_builder.py.

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◆ to_dict()

def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.to_dict	(		self,
		bool	include_moveit_configs = `True`
	)

Get loaded parameters from robot_name_moveit_config as a dictionary.

:param include_moveit_configs: Whether to include the MoveIt config parameters or
                               only the ones from ParameterBuilder
:return: Dictionary with all parameters loaded.

Definition at line 533 of file moveit_configs_builder.py.

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◆ to_moveit_configs()

def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.to_moveit_configs ( self )

Get MoveIt configs from robot_name_moveit_config.

:return: An MoveItConfigs instance with all parameters loaded.

Definition at line 504 of file moveit_configs_builder.py.

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◆ trajectory_execution()

def moveit_configs_utils.moveit_configs_builder.MoveItConfigsBuilder.trajectory_execution	(		self,
		Optional[str]	file_path = `None`,
		bool	moveit_manage_controllers = `True`
	)

Load trajectory execution and moveit controller managers' parameters

:param file_path: Absolute or relative path to the controllers yaml file (w.r.t. robot_name_moveit_config).
:param moveit_manage_controllers: Whether trajectory execution manager is allowed to switch controllers' states.
:return: Instance of MoveItConfigsBuilder with trajectory_execution loaded.

Definition at line 330 of file moveit_configs_builder.py.

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

moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ joint_limits()

◆ moveit_cpp()

◆ pilz_cartesian_limits()

◆ planning_pipelines()

◆ planning_scene_monitor()

◆ robot_description()

◆ robot_description_kinematics()

◆ robot_description_semantic()

◆ sensors_3d()

◆ to_dict()

◆ to_moveit_configs()

◆ trajectory_execution()

◆ init()