Pr humble python bindings

moveit_py/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.22)
+project(moveit_py)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(moveit_ros_planning REQUIRED)
+find_package(moveit_ros_planning_interface REQUIRED)
+find_package(moveit_core REQUIRED)
+find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
+find_package(pybind11_vendor REQUIRED)
+find_package(pybind11 REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+# enables using the Python extensions from the build space for testing
+file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/test_moveit/__init__.py" "")
+
+add_subdirectory(src/moveit/moveit_py_utils)
+
+ament_python_install_package(moveit)
+
+# Set the build location and install location for a CPython extension
+function(configure_build_install_location library_name)
+  # Install into test_moveit folder in build space for unit tests to import
+  set_target_properties(
+    ${library_name}
+    PROPERTIES # Use generator expression to avoid prepending a build type
+               # specific directory on Windows
+               LIBRARY_OUTPUT_DIRECTORY
+               $<1:${CMAKE_CURRENT_BINARY_DIR}/test_moveit>
+               RUNTIME_OUTPUT_DIRECTORY
+               $<1:${CMAKE_CURRENT_BINARY_DIR}/test_moveit>)
+
+  install(TARGETS ${library_name} DESTINATION "${PYTHON_INSTALL_DIR}/moveit")
+endfunction()
+
+pybind11_add_module(
+  core
+  src/moveit/core.cpp
+  src/moveit/moveit_core/collision_detection/collision_common.cpp
+  src/moveit/moveit_core/collision_detection/collision_matrix.cpp
+  src/moveit/moveit_core/collision_detection/world.cpp
+  src/moveit/moveit_core/controller_manager/controller_manager.cpp
+  src/moveit/moveit_core/kinematic_constraints/utils.cpp
+  src/moveit/moveit_core/planning_interface/planning_response.cpp
+  src/moveit/moveit_core/planning_scene/planning_scene.cpp
+  src/moveit/moveit_core/transforms/transforms.cpp
+  src/moveit/moveit_core/robot_model/joint_model.cpp
+  src/moveit/moveit_core/robot_model/joint_model_group.cpp
+  src/moveit/moveit_core/robot_model/robot_model.cpp
+  src/moveit/moveit_core/robot_state/robot_state.cpp
+  src/moveit/moveit_core/robot_trajectory/robot_trajectory.cpp
+)
+target_link_libraries(
+  core
+  PRIVATE moveit_ros_planning::moveit_cpp
+          rclcpp::rclcpp
+          moveit_core::moveit_transforms
+          moveit_core::moveit_kinematic_constraints
+          moveit_core::moveit_planning_interface
+          moveit_core::moveit_planning_scene
+          moveit_core::moveit_utils
+          moveit_core::moveit_robot_model
+          moveit_core::moveit_robot_state
+          moveit_py_utils
+          )
+configure_build_install_location(core)
+
+pybind11_add_module(
+  planning
+  src/moveit/planning.cpp
+  src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp
+  src/moveit/moveit_ros/moveit_cpp/planning_component.cpp
+  src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp
+  src/moveit/moveit_ros/trajectory_execution_manager/trajectory_execution_manager.cpp
+)
+target_link_libraries(
+  planning
+  PRIVATE moveit_ros_planning::moveit_cpp
+          moveit_ros_planning::moveit_planning_scene_monitor
+          moveit_ros_planning::moveit_trajectory_execution_manager
+          moveit_core::moveit_utils
+          rclcpp::rclcpp
+          moveit_py_utils)
+configure_build_install_location(planning)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
+  set(_pytest_tests test/unit/test_robot_model.py test/unit/test_robot_state.py)
+  foreach(test_path ${_pytest_tests})
+    get_filename_component(_test_name ${test_path} NAME_WE)
+    ament_add_pytest_test(
+      ${_test_name}
+      ${test_path}
+      APPEND_ENV
+      AMENT_PREFIX_INDEX=${ament_index_build_path}
+      PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+      TIMEOUT
+      60
+      WORKING_DIRECTORY
+      "${CMAKE_SOURCE_DIR}")
+  endforeach()
+endif()
+
+ament_export_targets(moveit_py_utilsTargets HAS_LIBRARY_TARGET)
+ament_export_dependencies(moveit_ros_planning_interface)
+ament_package()

moveit_py/README.md

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+# MoveIt 2 Python Library
+<img src="./banner.png" width="50%">
+
+`moveit_py` is a Python library for interfacing with the core functionalities of MoveIt 2.
+The goal of this library is to provide a simplified interface for MoveIt 2 Python users.
+
+This Python library depends on [pybind11](https://pybind11.readthedocs.io/en/stable/index.html) for generating Python bindings.
+The project is split into the following folders:
+
+    ├── docs                 # Sphinx documentation files
+    ├── moveit               # Python library stubs; Python functionalities built on top of bindings
+    ├── src/moveit           # pybind11 binding code
+    ├── test                 # Unit and integration testing
+
+## Tutorials
+We are continuing to add tutorials for the MoveIt 2 Python library. Of particular note is the fact that one can interact with MoveIt interactively since Python is an interpreted language, our tutorials demonstrate this through leveraging Jupyter notebooks. For further details please consult the [MoveIt 2 tutorials site](https://moveit.picknik.ai/main/index.html).
+
+## Contribution Guidelines
+Community contributions are welcome.
+
+For detailed contribution guidelines please consult the official [MoveIt contribution guidelines](https://moveit.ros.org/documentation/contributing/).
+
+## Citing the Library
+If you use this library in your work please use the following citation:
+```bibtex
+@software{fagan2023moveitpy,
+  author = {Fagan, Peter David},
+  title = {{MoveIt 2 Python Library: A Software Library for Robotics Education and Research}},
+  url = {https://github.com/moveit/moveit2/tree/main/moveit_py},
+  year = {2023}
+}
+```
+
+## Acknowledgements
+Thank you to the [Google Summer of Code program](https://summerofcode.withgoogle.com/) for sponsoring the development of this Python library. Thank you to the MoveIt maintainers Henning Kayser (@henningkayser) and Michael Goerner (@v4hn) for their guidance as supervisors of my GSoC project. Finally thank you to the [ML Collective](https://mlcollective.org/) for providing compute support for this project.

moveit_py/docs/script/conf.py

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+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+# import os
+# import sys
+# sys.path.insert(0, os.path.abspath('../../../../../../build/moveit_py'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = "moveit_py"
+copyright = "2022, Peter David Fagan; 2025, Samuele Sandrini"
+author = "Peter David Fagan, Samuele Sandrini"
+
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    "sphinx.ext.napoleon",
+    "sphinx.ext.autodoc",
+    "sphinx.ext.autosummary",
+    "sphinx_rtd_theme",
+    "sphinx.ext.intersphinx",
+]
+
+intersphinx_mapping = {
+    "numpy": ("https://numpy.org/doc/stable/", None),
+    "geometry_msgs": ("http://docs.ros.org/en/latest/api/geometry_msgs/html/", None),
+}
+autodoc_typehints = "signature"
+
+autodoc_default_options = {
+    "members": True,
+    "undoc-members": True,
+    "member-order": "bysource",
+}
+
+autosummary_generate = True
+
+# Napoleon settings
+napoleon_google_docstring = True
+napoleon_numpy_docstring = False
+napoleon_include_init_with_doc = False
+napoleon_include_private_with_doc = False
+napoleon_include_special_with_doc = False
+napoleon_use_admonition_for_examples = False
+napoleon_use_admonition_for_notes = False
+napoleon_use_admonition_for_references = False
+napoleon_use_ivar = False
+napoleon_use_param = False
+napoleon_use_rtype = False
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ["_templates"]
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = "sphinx_rtd_theme"
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ["_static"]
+
+master_doc = "index"

moveit_py/docs/script/index.rst

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+MoveItPy API Documentation
+=====================================
+
+.. toctree::
+
+.. autosummary::
+   :toctree: _autosummary
+   :recursive:
+
+   moveit_py.core
+   moveit_py.planning
+   moveit_py.policies
+   moveit_py.servo_client

moveit_py/moveit/README.md

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+# Stubfile Generation
+What is a stub?
+
+```
+A stub file in Python is a file that is used to define type hinting information (.pyi file extension).
+This type hint information enables users to interactively retrieve data about a method or class within their chosem IDE.
+```
+
+For this project we leverage (stubgen)[https://mypy.readthedocs.io/en/stable/stubgen.html] from the (mypy)[https://mypy.readthedocs.io/en/stable/index.html]
+Python package to autogenerate stub files. To do so we simply build the moveit_py Python library and run the following command from an environment containing the built package:
+
+```
+stubgen -p moveit
+```
+
+This outputs the outgenerated stub files to an `out` directory. These are the stub files we use.
+
+Note: manual edits are likely to be made to the autogenerated files for official library releases.](https://mypy.readthedocs.io/en/stable/index.html)

moveit_py/moveit/__init__.py

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+from moveit.core import *
+from moveit.planning import *
+from moveit.utils import get_launch_params_filepaths

moveit_py/moveit/__init__.pyi

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+from moveit.core import *
+from moveit.planning import *
+from moveit.utils import get_launch_params_filepaths as get_launch_params_filepaths

moveit_py/moveit/core/__init__.pyi

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+from . import (
+    collision_detection as collision_detection,
+    controller_manager as controller_manager,
+    kinematic_constraints as kinematic_constraints,
+    planning_interface as planning_interface,
+    planning_scene as planning_scene,
+    robot_model as robot_model,
+    robot_state as robot_state,
+    robot_trajectory as robot_trajectory,
+)
+
+class World:
+    def __init__(self, *args, **kwargs) -> None: ...

moveit_py/moveit/core/collision_detection.pyi

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+from _typeshed import Incomplete
+
+class AllowedCollisionMatrix:
+    def __init__(self, *args, **kwargs) -> None: ...
+    def clear(self, *args, **kwargs): ...
+    def get_entry(self, *args, **kwargs): ...
+    def remove_entry(self, *args, **kwargs): ...
+    def set_entry(self, *args, **kwargs): ...
+
+class CollisionRequest:
+    contacts: Incomplete
+    cost: Incomplete
+    distance: Incomplete
+    joint_model_group_name: Incomplete
+    max_contacts: Incomplete
+    max_contacts_per_pair: Incomplete
+    max_cost_sources: Incomplete
+    verbose: Incomplete
+    def __init__(self, *args, **kwargs) -> None: ...
+
+class CollisionResult:
+    collision: Incomplete
+    contact_count: Incomplete
+    contacts: Incomplete
+    cost_sources: Incomplete
+    distance: Incomplete
+    def __init__(self, *args, **kwargs) -> None: ...

moveit_py/moveit/core/controller_manager.pyi

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+class ExecutionStatus:
+    def __init__(self, *args, **kwargs) -> None: ...
+    def __bool__(self) -> bool: ...
+    @property
+    def status(self): ...

moveit_py/moveit/core/kinematic_constraints.pyi

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+def construct_constraints_from_node(*args, **kwargs): ...
+def construct_joint_constraint(*args, **kwargs): ...
+def construct_link_constraint(*args, **kwargs): ...

moveit_py/moveit/core/planning_interface.pyi

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+class MotionPlanResponse:
+    def __init__(self, *args, **kwargs) -> None: ...
+    def __bool__(self) -> bool: ...
+    @property
+    def error_code(self): ...
+    @property
+    def planning_time(self): ...
+    @property
+    def trajectory(self): ...

moveit_py/moveit/core/planning_scene.pyi

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+from _typeshed import Incomplete
+
+class PlanningScene:
+    current_state: Incomplete
+    name: Incomplete
+    def __init__(self, *args, **kwargs) -> None: ...
+    def apply_collision_object(self, *args, **kwargs): ...
+    def check_collision(self, *args, **kwargs): ...
+    def check_collision_unpadded(self, *args, **kwargs): ...
+    def check_self_collision(self, *args, **kwargs): ...
+    def get_frame_transform(self, *args, **kwargs): ...
+    def is_path_valid(self, *args, **kwargs): ...
+    def is_state_colliding(self, *args, **kwargs): ...
+    def is_state_constrained(self, *args, **kwargs): ...
+    def is_state_valid(self, *args, **kwargs): ...
+    def knows_frame_transform(self, *args, **kwargs): ...
+    def load_geometry_from_file(self, *args, **kwargs): ...
+    def process_attached_collision_object(self, *args, **kwargs): ...
+    def process_octomap(self, *args, **kwargs): ...
+    def process_planning_scene_world(self, *args, **kwargs): ...
+    def remove_all_collision_objects(self, *args, **kwargs): ...
+    def save_geometry_to_file(self, *args, **kwargs): ...
+    def set_object_color(self, *args, **kwargs): ...
+    def __copy__(self): ...
+    def __deepcopy__(self): ...
+    @property
+    def allowed_collision_matrix(self): ...
+    @property
+    def planning_frame(self): ...
+    @property
+    def planning_scene_message(self): ...
+    @property
+    def robot_model(self): ...
+    @property
+    def transforms(self): ...