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[Python] Added Allowed Collision Matrix to planning scene and optional planning scene during planning #2387

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merged 8 commits into from
Oct 24, 2023
Merged

[Python] Added Allowed Collision Matrix to planning scene and optional planning scene during planning #2387

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574f8d9
[Python] Added Allowed Collision Matrix to planning scene and optiona…
JensVanhooydonck Sep 26, 2023
853228d
Updated formatting
JensVanhooydonck Sep 26, 2023
8ec60c2
Updated formatting
JensVanhooydonck Sep 26, 2023
1943f1c
Merge branch 'main' into python_planning_scene_allowed_collision_matrix
JensVanhooydonck Sep 27, 2023
bf3d528
Merge branch 'ros-planning:main' into python_planning_scene_allowed_c…
JensVanhooydonck Sep 30, 2023
590a79c
Added planning scene to Line 81 (no stopping criteria)
JensVanhooydonck Oct 14, 2023
0d263e5
Run precommit
JensVanhooydonck Oct 14, 2023
975b79d
Merge branch 'main' into python_planning_scene_allowed_collision_matrix
JensVanhooydonck Oct 21, 2023
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2 changes: 2 additions & 0 deletions moveit_py/moveit/core/planning_scene.pyi
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Original file line number Diff line number Diff line change
Expand Up @@ -29,3 +29,5 @@ class PlanningScene:
def robot_model(self) -> Any: ...
@property
def transforms(self) -> Any: ...
@property
def allowed_collision_matrix(self) -> Any: ...
3 changes: 2 additions & 1 deletion moveit_py/src/moveit/moveit_core/planning_scene/planning_scene.cpp
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Expand Up @@ -112,7 +112,8 @@ void init_planning_scene(py::module& m)
py::return_value_policy::move)

.def_property("transforms", py::overload_cast<>(&planning_scene::PlanningScene::getTransforms), nullptr)

.def_property("allowed_collision_matrix", &planning_scene::PlanningScene::getAllowedCollisionMatrix, nullptr,
py::return_value_policy::move)
// methods
.def("__copy__",
[](const planning_scene::PlanningScene* self) {
Expand Down
23 changes: 16 additions & 7 deletions moveit_py/src/moveit/moveit_ros/moveit_cpp/planning_component.cpp
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Expand Up @@ -45,6 +45,7 @@ planning_interface::MotionPlanResponse
plan(std::shared_ptr<moveit_cpp::PlanningComponent>& planning_component,
std::shared_ptr<moveit_cpp::PlanningComponent::PlanRequestParameters>& single_plan_parameters,
std::shared_ptr<moveit_cpp::PlanningComponent::MultiPipelinePlanRequestParameters>& multi_plan_parameters,
std::shared_ptr<planning_scene::PlanningScene>& planning_scene,
std::optional<const moveit::planning_pipeline_interfaces::SolutionSelectionFunction> solution_selection_function,
std::optional<moveit::planning_pipeline_interfaces::StoppingCriterionFunction> stopping_criterion_callback)
{
Expand All @@ -61,7 +62,7 @@ plan(std::shared_ptr<moveit_cpp::PlanningComponent>& planning_component,
std::shared_ptr<const moveit_cpp::PlanningComponent::PlanRequestParameters> const_single_plan_parameters =
std::const_pointer_cast<const moveit_cpp::PlanningComponent::PlanRequestParameters>(single_plan_parameters);

return planning_component->plan(*const_single_plan_parameters);
return planning_component->plan(*const_single_plan_parameters, planning_scene);
}
else if (multi_plan_parameters)
{
Expand All @@ -73,25 +74,32 @@ plan(std::shared_ptr<moveit_cpp::PlanningComponent>& planning_component,
if (solution_selection_function && stopping_criterion_callback)
{
return planning_component->plan(*const_multi_plan_parameters, std::ref(*solution_selection_function),
*stopping_criterion_callback);
*stopping_criterion_callback, planning_scene);
}
else if (solution_selection_function)
{
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return planning_component->plan(*const_multi_plan_parameters, std::ref(*solution_selection_function));
return planning_component->plan(*const_multi_plan_parameters, std::ref(*solution_selection_function), nullptr,
planning_scene);
}
else if (stopping_criterion_callback)
{
return planning_component->plan(*const_multi_plan_parameters,
moveit::planning_pipeline_interfaces::getShortestSolution,
*stopping_criterion_callback);
*stopping_criterion_callback, planning_scene);
}
else
{
return planning_component->plan(*const_multi_plan_parameters);
return planning_component->plan(*const_multi_plan_parameters,
moveit::planning_pipeline_interfaces::getShortestSolution, nullptr,
planning_scene);
}
}
else
{
if (planning_scene)
{
throw std::invalid_argument("Cannot specify planning scene without specifying plan parameters");
}
return planning_component->plan();
}
}
Expand Down Expand Up @@ -322,8 +330,9 @@ void init_planning_component(py::module& m)

// TODO (peterdavidfagan): improve the plan API
.def("plan", &moveit_py::bind_planning_component::plan, py::arg("single_plan_parameters") = nullptr,
py::arg("multi_plan_parameters") = nullptr, py::arg("solution_selection_function") = nullptr,
py::arg("stopping_criterion_callback") = nullptr, py::return_value_policy::move,
py::arg("multi_plan_parameters") = nullptr, py::arg("planning_scene") = nullptr,
py::arg("solution_selection_function") = nullptr, py::arg("stopping_criterion_callback") = nullptr,
py::return_value_policy::move,
R"(
Plan a motion plan using the current start and goal states.
Expand Down
1 change: 1 addition & 0 deletions moveit_py/src/moveit/moveit_ros/moveit_cpp/planning_component.h
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Expand Up @@ -62,6 +62,7 @@ planning_interface::MotionPlanResponse
plan(std::shared_ptr<moveit_cpp::PlanningComponent>& planning_component,
std::shared_ptr<moveit_cpp::PlanningComponent::PlanRequestParameters>& single_plan_parameters,
std::shared_ptr<moveit_cpp::PlanningComponent::MultiPipelinePlanRequestParameters>& multi_plan_parameters,
std::shared_ptr<planning_scene::PlanningScene>& planning_scene,
std::optional<const moveit::planning_pipeline_interfaces::SolutionSelectionFunction> solution_selection_function,
std::optional<moveit::planning_pipeline_interfaces::StoppingCriterionFunction> stopping_criterion_callback);

Expand Down
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