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Decorate MoveItConfigs with dataclass #1308

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Jun 3, 2022
Merged

Decorate MoveItConfigs with dataclass #1308

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153 changes: 26 additions & 127 deletions moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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 = {}
Expand Down