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Add support for GenerateRandomPose python binding #635

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Add support for GenerateRandomPose python binding #635

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1 change: 1 addition & 0 deletions core/include/moveit/task_constructor/stages.h
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Original file line number Diff line number Diff line change
Expand Up @@ -51,3 +51,4 @@
#include "stages/move_relative.h"
#include "stages/move_to.h"
#include "stages/predicate_filter.h"
#include "stages/generate_random_pose.h"
22 changes: 22 additions & 0 deletions core/python/bindings/src/stages.cpp
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Expand Up @@ -57,6 +57,7 @@ PYBIND11_SMART_HOLDER_TYPE_CASTERS(Connect)
PYBIND11_SMART_HOLDER_TYPE_CASTERS(FixCollisionObjects)
PYBIND11_SMART_HOLDER_TYPE_CASTERS(GenerateGraspPose)
PYBIND11_SMART_HOLDER_TYPE_CASTERS(GeneratePlacePose)
PYBIND11_SMART_HOLDER_TYPE_CASTERS(GenerateRandomPose)
PYBIND11_SMART_HOLDER_TYPE_CASTERS(GeneratePose)
PYBIND11_SMART_HOLDER_TYPE_CASTERS(Pick)
PYBIND11_SMART_HOLDER_TYPE_CASTERS(Place)
Expand Down Expand Up @@ -405,6 +406,27 @@ void export_stages(pybind11::module& m) {
)")
.def(py::init<const std::string&>(), "name"_a);

py::enum_<GenerateRandomPose::PoseDimension>(m, "PoseDimension", R"(
Define the dimensions of a pose that can be randomized.
)")
.value("X", GenerateRandomPose::PoseDimension::X, "X dimension")
.value("Y", GenerateRandomPose::PoseDimension::Y, "Y dimension")
.value("Z", GenerateRandomPose::PoseDimension::Z, "Z dimension")
.value("ROLL", GenerateRandomPose::PoseDimension::ROLL, "Roll dimension")
.value("PITCH", GenerateRandomPose::PoseDimension::PITCH, "Pitch dimension")
.value("YAW", GenerateRandomPose::PoseDimension::YAW, "Yaw dimension");

properties::class_<GenerateRandomPose, GeneratePose>(m, "GenerateRandomPose", R"(
Monitoring generator stage which can be used to generate random poses, based on solutions provided
by the monitored stage and the specified pose dimension samplers.
)")
.def(py::init<const std::string&>(), "name"_a)
.def("set_max_solutions", &GenerateRandomPose::setMaxSolutions, "max_solutions"_a)
.def("sample_dimension", [](GenerateRandomPose& self, const GenerateRandomPose::PoseDimension pose_dimension,
const double width) {
self.sampleDimension<std::uniform_real_distribution>(pose_dimension, width);
}, "pose_dimension"_a, "width"_a);

properties::class_<Pick, SerialContainer>(m, "Pick", R"(
The Pick stage is a specialization of the PickPlaceBase class, which
wraps the pipeline to pick or place an object with a given end effector.
Expand Down
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