Decorate MoveItConfigs with dataclaass

moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py

@@ -51,9 +51,10 @@
 """
 
 from pathlib import Path
-from typing import Optional, List
+from typing import Optional, List, Dict
 import logging
 import re
+from dataclasses import dataclass, field
 from ament_index_python.packages import get_package_share_directory
 
 from launch_param_builder import ParameterBuilder, load_yaml, load_xacro
@@ -83,134 +84,32 @@ def get_pattern_matches(folder, pattern):
     return matches
 
 
-class MoveItConfigs(object):
+@dataclass(slots=True)
+class MoveItConfigs:
     """Class containing MoveIt related parameters."""
 
-    __slots__ = [
-        "__package_path",
-        "__robot_description",
-        "__robot_description_semantic",
-        "__robot_description_kinematics",
-        "__planning_pipelines",
-        "__trajectory_execution",
-        "__planning_scene_monitor",
-        "__move_group_capabilities",
-        "__joint_limits",
-        "__moveit_cpp",
-        "__cartesian_limits",
-    ]
-
-    def __init__(self):
-        # A pathlib Path to the moveit config package
-        self.package_path = None
-        # A dictionary that has the contents of the URDF file.
-        self.robot_description = {}
-        # A dictionary that has the contents of the SRDF file.
-        self.robot_description_semantic = {}
-        # A dictionary IK solver specific parameters.
-        self.robot_description_kinematics = {}
-        # A dictionary that contains the planning pipelines parameters.
-        self.planning_pipelines = {}
-        # A dictionary contains parameters for trajectory execution & moveit controller managers.
-        self.trajectory_execution = {}
-        # A dictionary that have the planning scene monitor's parameters.
-        self.planning_scene_monitor = {}
-        # A dictionary containing move_group's non-default capabilities.
-        self.move_group_capabilities = {}
-        # A dictionary containing the overridden position/velocity/acceleration limits.
-        self.joint_limits = {}
-        # A dictionary containing MoveItCpp related parameters.
-        self.moveit_cpp = {}
-        # A dictionary containing the cartesian limits for the Pilz planner.
-        self.cartesian_limits = {}
-
-    @property
-    def package_path(self):
-        return self.__package_path
-
-    @package_path.setter
-    def package_path(self, value):
-        self.__package_path = value
-
-    @property
-    def robot_description(self):
-        return self.__robot_description
-
-    @robot_description.setter
-    def robot_description(self, value):
-        self.__robot_description = value
-
-    @property
-    def robot_description_semantic(self):
-        return self.__robot_description_semantic
-
-    @robot_description_semantic.setter
-    def robot_description_semantic(self, value):
-        self.__robot_description_semantic = value
-
-    @property
-    def robot_description_kinematics(self):
-        return self.__robot_description_kinematics
-
-    @robot_description_kinematics.setter
-    def robot_description_kinematics(self, value):
-        self.__robot_description_kinematics = value
-
-    @property
-    def planning_pipelines(self):
-        return self.__planning_pipelines
-
-    @planning_pipelines.setter
-    def planning_pipelines(self, value):
-        self.__planning_pipelines = value
-
-    @property
-    def trajectory_execution(self):
-        return self.__trajectory_execution
-
-    @trajectory_execution.setter
-    def trajectory_execution(self, value):
-        self.__trajectory_execution = value
-
-    @property
-    def planning_scene_monitor(self):
-        return self.__planning_scene_monitor
-
-    @planning_scene_monitor.setter
-    def planning_scene_monitor(self, value):
-        self.__planning_scene_monitor = value
-
-    @property
-    def move_group_capabilities(self):
-        return self.__move_group_capabilities
-
-    @move_group_capabilities.setter
-    def move_group_capabilities(self, value):
-        self.__move_group_capabilities = value
-
-    @property
-    def joint_limits(self):
-        return self.__joint_limits
-
-    @joint_limits.setter
-    def joint_limits(self, value):
-        self.__joint_limits = value
-
-    @property
-    def moveit_cpp(self):
-        return self.__moveit_cpp
-
-    @moveit_cpp.setter
-    def moveit_cpp(self, value):
-        self.__moveit_cpp = value
-
-    @property
-    def cartesian_limits(self):
-        return self.__cartesian_limits
-
-    @cartesian_limits.setter
-    def cartesian_limits(self, value):
-        self.__cartesian_limits = value
+    # A pathlib Path to the moveit config package
+    package_path: Optional[str] = None
+    # A dictionary that has the contents of the URDF file.
+    robot_description: Dict = field(default_factory=dict)
+    # A dictionary that has the contents of the SRDF file.
+    robot_description_semantic: Dict = field(default_factory=dict)
+    # A dictionary IK solver specific parameters.
+    robot_description_kinematics: Dict = field(default_factory=dict)
+    # A dictionary that contains the planning pipelines parameters.
+    planning_pipelines: Dict = field(default_factory=dict)
+    # A dictionary contains parameters for trajectory execution & moveit controller managers.
+    trajectory_execution: Dict = field(default_factory=dict)
+    # A dictionary that have the planning scene monitor's parameters.
+    planning_scene_monitor: Dict = field(default_factory=dict)
+    # A dictionary containing move_group's non-default capabilities.
+    move_group_capabilities: Dict = field(default_factory=dict)
+    # A dictionary containing the overridden position/velocity/acceleration limits.
+    joint_limits: Dict = field(default_factory=dict)
+    # A dictionary containing MoveItCpp related parameters.
+    moveit_cpp: Dict = field(default_factory=dict)
+    # A dictionary containing the cartesian limits for the Pilz planner.
+    cartesian_limits: Dict = field(default_factory=dict)
 
     def to_dict(self):
         parameters = {}