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)

• Merge pull request #9 from mikeferguson/pyassimp_fix pyassimp is broken in 16.04, temporary work around so we can release
• Contributors: Michael Ferguson

0.2.16 (2015-11-02)

• fix error message to have proper function name
• Contributors: Michael Ferguson

0.2.15 (2015-08-20)

• Fix types in move_group_interface
• add planning_scene_diff as optional field
• Contributors: Michael Ferguson, Mikkel Rath Pedersen

0.2.14 (2015-05-22)

• add no-wait behavior for move, pick, and place
• updates for compliance with PEP8
• Contributors: Aaron Blasdel, Michael Ferguson

0.2.13 (2015-04-18)

• better handle removal of objects
• place has no attached_object_touch_links
• Contributors: Michael Ferguson

0.2.12 (2015-04-11)

• fixup planner id
• Contributors: Michael Ferguson

0.2.11 (2015-04-08)

• fix spelling issue in velocity scaling factor
• Contributors: Michael Ferguson

0.2.10 (2015-04-06)

• implement kwargs for pick&place interface
• add max_velocity_scaling_factor as kwarg
• allow overriding allowed_planning_time
• add FakeGroupInterface
• add clear() method to planning scene interface
• Contributors: Michael Ferguson

0.2.9 (2015-03-28)

• add rotate_pose_msg_about_origin
• Contributors: Michael Ferguson

0.2.8 (2015-03-21)

• expose num_attempts through kw_args
• Contributors: Michael Ferguson

0.2.7 (2014-11-19)

• enable removing attached objects
• Contributors: Michael Ferguson

0.2.6 (2014-11-16)

• use kw_args for group interface, add a number of args supported
• a couple of fixes for is_diff
• Contributors: Michael Ferguson

0.2.5 (2014-07-09)

• add scripts for dumping/loading planning scene
• documentation cleanup
• Contributors: Michael Ferguson

0.2.4 (2014-06-03)

• add list and remove object scripts, closes #2
• properly initialize planning scene interface, fixes #1
• add planner_id logic to move group interface
• remove default support name
• fix comment on result type
• add missing import
• upstream the retry logic
• Contributors: Michael Ferguson

0.2.3 (2014-05-26)

• fix bug in mesh generation
• Contributors: Michael Ferguson

0.2.2 (2014-05-21)

• pass full result in pick and place
• Contributors: Michael Ferguson

0.2.1 (2014-05-19)

• fix pyassimp rosdep
• Contributors: Michael Ferguson

0.2.0 (2014-05-19)

• Initial release after forking from moveit_utils
• Contributors: Michael Ferguson