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[Python] Added Allowed Collision Matrix to planning scene and optional planning scene during planning (backport #2387) #2479

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Jan 23, 2024
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[Python] Added Allowed Collision Matrix to planning scene and optional planning scene during planning (backport #2387) #2479

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b15e08c
[Python] Add Allowed Collision Matrix to planning scene and optional …
JensVanhooydonck Oct 24, 2023
e76f6ce
Merge branch 'iron' into mergify/bp/iron/pr-2387
sjahr Dec 13, 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) {
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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)
{
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.

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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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