AttachedBody

class mplib.AttachedBody

Bases: pybind11_object

Object defining bodies that can be attached to robot links. This is useful when handling objects picked up by the robot.

Mimicking MoveIt2’s moveit::core::AttachedBody

https://moveit.picknik.ai/main/api/html/classmoveit_1_1core_1_1AttachedBody.html

__init__(

self: mplib.pymp.AttachedBody,

name: str,

object: mplib.pymp.collision_detection.fcl.FCLObject,

attached_articulation: mplib.pymp.ArticulatedModel,

attached_link_id: int,

pose: mplib.pymp.Pose,

touch_links: list[str] = [],

) → None

Construct an attached body for a specified link.

Parameters:

• name – name of the attached body

• object – collision object of the attached body

• attached_articulation – robot articulated model to attach to

• attached_link_id – id of the articulation link to attach to

• pose – attached pose (relative pose from attached link to object)

• touch_links – the link names that the attached body touches

get_attached_articulation(

self: mplib.pymp.AttachedBody,

) → mplib.pymp.ArticulatedModel

Gets the articulation that this body is attached to

get_attached_link_global_pose(

self: mplib.pymp.AttachedBody,

) → mplib.pymp.Pose

Gets the global pose of the articulation link that this body is attached to

get_attached_link_id(self: mplib.pymp.AttachedBody) → int

Gets the articulation link id that this body is attached to

get_global_pose(self: mplib.pymp.AttachedBody) → mplib.pymp.Pose

Gets the global pose of the attached object

get_name(self: mplib.pymp.AttachedBody) → str

Gets the attached object name

get_object(

self: mplib.pymp.AttachedBody,

) → mplib.pymp.collision_detection.fcl.FCLObject

Gets the attached object (FCLObjectPtr)

get_pose(self: mplib.pymp.AttachedBody) → mplib.pymp.Pose

Gets the attached pose (relative pose from attached link to object)

get_touch_links(self: mplib.pymp.AttachedBody) → list[str]

Gets the link names that the attached body touches

property pose

The attached pose (relative pose from attached link to object)

set_pose(self: mplib.pymp.AttachedBody, pose: mplib.pymp.Pose) → None

Sets the attached pose (relative pose from attached link to object)

set_touch_links(

self: mplib.pymp.AttachedBody,

touch_links: list[str],

) → None

Sets the link names that the attached body touches

update_pose(self: mplib.pymp.AttachedBody) → None

Updates the global pose of the attached object using current state