(py) get configuration values of traj_exec_man

Author: MatthijsBurgh

moveit_py/moveit/planning.pyi

@@ -68,6 +68,9 @@ class PlanningSceneMonitor:
 
 class TrajectoryExecutionManager:
     def __init__(self, *args, **kwargs) -> None: ...
+    def allowed_execution_duration_scaling(self, *args, **kwargs) -> Any: ...
+    def allowed_goal_duration_margin(self, *args, **kwargs) -> Any: ...
+    def allowed_start_tolerance(self, *args, **kwargs) -> Any: ...
     def are_controllers_active(self, *args, **kwargs) -> Any: ...
     def clear(self, *args, **kwargs) -> Any: ...
     def enable_execution_duration_monitoring(self, *args, **kwargs) -> Any: ...
@@ -77,6 +80,8 @@ class TrajectoryExecutionManager:
     def ensure_active_controllers_for_joints(self, *args, **kwargs) -> Any: ...
     def execute(self, *args, **kwargs) -> Any: ...
     def execute_and_wait(self, *args, **kwargs) -> Any: ...
+    def execution_duration_monitoring(self, *args, **kwargs) -> Any: ...
+    def execution_velocity_scaling(self, *args, **kwargs) -> Any: ...
     def get_last_execution_status(self, *args, **kwargs) -> Any: ...
     def is_controller_active(self, *args, **kwargs) -> Any: ...
     def is_managing_controllers(self, *args, **kwargs) -> Any: ...
@@ -89,3 +94,4 @@ class TrajectoryExecutionManager:
     def set_wait_for_trajectory_completion(self, *args, **kwargs) -> Any: ...
     def stop_execution(self, *args, **kwargs) -> Any: ...
     def wait_for_execution(self, *args, **kwargs) -> Any: ...
+    def wait_for_trajectory_completion(self, *args, **kwargs) -> Any: ...

moveit_py/src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp

@@ -214,19 +214,37 @@ void initTrajectoryExecutionManager(py::module& m)
            If a controller takes longer than expected, the trajectory is canceled.
            )")
 
+      .def("execution_duration_monitoring",
+           &trajectory_execution_manager::TrajectoryExecutionManager::ExecutionDurationMonitoring,
+           R"(
+           Get the current status of the monitoring of trajectory execution duration.
+           )")
+
       .def("set_allowed_execution_duration_scaling",
            &trajectory_execution_manager::TrajectoryExecutionManager::setAllowedExecutionDurationScaling,
            py::arg("scaling"),
            R"(
            When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution.
            )")
 
+      .def("allowed_execution_duration_scaling",
+           &trajectory_execution_manager::TrajectoryExecutionManager::AllowedExecutionDurationScaling,
+           R"(
+           Get the current scaling of the duration of a trajectory to get the allowed duration of execution.
+           )")
+
       .def("set_allowed_goal_duration_margin",
            &trajectory_execution_manager::TrajectoryExecutionManager::setAllowedGoalDurationMargin, py::arg("margin"),
            R"(
            When determining the expected duration of a trajectory, this additional margin s applied after scalign to allow more than the expected execution time before triggering trajectory cancel.
            )")
 
+      .def("allowed_goal_duration_margin",
+           &trajectory_execution_manager::TrajectoryExecutionManager::AllowedGoalDurationMargin,
+           R"(
+           Get the current margin of the duration of a trajectory to get the allowed duration of execution.
+           )")
+
       .def("set_execution_velocity_scaling",
            &trajectory_execution_manager::TrajectoryExecutionManager::setExecutionVelocityScaling, py::arg("scaling"),
            R"(
@@ -235,16 +253,33 @@ void initTrajectoryExecutionManager(py::module& m)
            By default, this is 1.0
            )")
 
+      .def("execution_velocity_scaling",
+           &trajectory_execution_manager::TrajectoryExecutionManager::ExecutionVelocityScaling,
+           R"(
+           Get the current scaling of the execution velocities.
+           )")
+
       .def("set_allowed_start_tolerance",
            &trajectory_execution_manager::TrajectoryExecutionManager::setAllowedStartTolerance, py::arg("tolerance"),
            R"(
            Set joint-value tolerance for validating trajectory's start point against current robot state.
            )")
 
+      .def("allowed_start_tolerance", &trajectory_execution_manager::TrajectoryExecutionManager::AllowedStartTolerance,
+           R"(
+           Get the current joint-value for validating trajectory's start point against current robot state.
+           )")
+
       .def("set_wait_for_trajectory_completion",
            &trajectory_execution_manager::TrajectoryExecutionManager::setWaitForTrajectoryCompletion, py::arg("flag"),
            R"(
            Enable or disable waiting for trajectory completion.
+           )")
+
+      .def("wait_for_trajectory_completion",
+           &trajectory_execution_manager::TrajectoryExecutionManager::WaitForTrajectoryCompletion,
+           R"(
+           Get the current state of waiting for the trajectory being completed.
            )");
 
   // ToDo(MatthijsBurgh)