---
orphan: true
---

# {py:mod}`agents.components.moveit`

```{py:module} agents.components.moveit
```

```{autodoc2-docstring} agents.components.moveit
:allowtitles:
```

## Module Contents

### Classes

````{list-table}
:class: autosummary longtable
:align: left

* - {py:obj}`MoveIt <agents.components.moveit.MoveIt>`
  - ```{autodoc2-docstring} agents.components.moveit.MoveIt
    :summary:
    ```
````

### API

`````{py:class} MoveIt(*, config: agents.config.MoveItConfig, component_name: str, inputs: typing.Optional[typing.List] = None, outputs: typing.Optional[typing.List] = None, **kwargs)
:canonical: agents.components.moveit.MoveIt

Bases: {py:obj}`agents.components.component_base.Component`

```{autodoc2-docstring} agents.components.moveit.MoveIt
```

````{py:method} create_all_action_clients()
:canonical: agents.components.moveit.MoveIt.create_all_action_clients

```{autodoc2-docstring} agents.components.moveit.MoveIt.create_all_action_clients
```

````

````{py:method} destroy_all_action_clients()
:canonical: agents.components.moveit.MoveIt.destroy_all_action_clients

```{autodoc2-docstring} agents.components.moveit.MoveIt.destroy_all_action_clients
```

````

````{py:method} create_all_service_clients()
:canonical: agents.components.moveit.MoveIt.create_all_service_clients

```{autodoc2-docstring} agents.components.moveit.MoveIt.create_all_service_clients
```

````

````{py:method} destroy_all_service_clients()
:canonical: agents.components.moveit.MoveIt.destroy_all_service_clients

```{autodoc2-docstring} agents.components.moveit.MoveIt.destroy_all_service_clients
```

````

````{py:method} custom_on_activate()
:canonical: agents.components.moveit.MoveIt.custom_on_activate

```{autodoc2-docstring} agents.components.moveit.MoveIt.custom_on_activate
```

````

````{py:method} custom_on_deactivate()
:canonical: agents.components.moveit.MoveIt.custom_on_deactivate

```{autodoc2-docstring} agents.components.moveit.MoveIt.custom_on_deactivate
```

````

````{py:method} main_action_callback(goal_handle)
:canonical: agents.components.moveit.MoveIt.main_action_callback

```{autodoc2-docstring} agents.components.moveit.MoveIt.main_action_callback
```

````

````{py:method} open_gripper() -> agents.ros.ActionReturnType
:canonical: agents.components.moveit.MoveIt.open_gripper

```{autodoc2-docstring} agents.components.moveit.MoveIt.open_gripper
```

````

````{py:method} close_gripper() -> agents.ros.ActionReturnType
:canonical: agents.components.moveit.MoveIt.close_gripper

```{autodoc2-docstring} agents.components.moveit.MoveIt.close_gripper
```

````

````{py:method} set_gripper(position: float) -> agents.ros.ActionReturnType
:canonical: agents.components.moveit.MoveIt.set_gripper

```{autodoc2-docstring} agents.components.moveit.MoveIt.set_gripper
```

````

````{py:method} stop_motion() -> agents.ros.ActionReturnType
:canonical: agents.components.moveit.MoveIt.stop_motion

```{autodoc2-docstring} agents.components.moveit.MoveIt.stop_motion
```

````

````{py:method} get_named_targets() -> agents.ros.ActionReturnType
:canonical: agents.components.moveit.MoveIt.get_named_targets

```{autodoc2-docstring} agents.components.moveit.MoveIt.get_named_targets
```

````

````{py:method} add_collision_object(object_id: str, center: typing.List[float], size: typing.List[float], frame_id: str = '') -> agents.ros.ActionReturnType
:canonical: agents.components.moveit.MoveIt.add_collision_object

```{autodoc2-docstring} agents.components.moveit.MoveIt.add_collision_object
```

````

````{py:method} remove_collision_object(object_id: str) -> agents.ros.ActionReturnType
:canonical: agents.components.moveit.MoveIt.remove_collision_object

```{autodoc2-docstring} agents.components.moveit.MoveIt.remove_collision_object
```

````

````{py:method} clear_collision_objects(detections_only: bool = False) -> agents.ros.ActionReturnType
:canonical: agents.components.moveit.MoveIt.clear_collision_objects

```{autodoc2-docstring} agents.components.moveit.MoveIt.clear_collision_objects
```

````

````{py:method} list_collision_objects() -> agents.ros.ActionReturnType
:canonical: agents.components.moveit.MoveIt.list_collision_objects

```{autodoc2-docstring} agents.components.moveit.MoveIt.list_collision_objects
```

````

````{py:method} clear_octomap() -> agents.ros.ActionReturnType
:canonical: agents.components.moveit.MoveIt.clear_octomap

```{autodoc2-docstring} agents.components.moveit.MoveIt.clear_octomap
```

````

````{py:method} attach_object(object_id: str, link_name: str = '', touch_links: typing.Optional[typing.List[str]] = None) -> agents.ros.ActionReturnType
:canonical: agents.components.moveit.MoveIt.attach_object

```{autodoc2-docstring} agents.components.moveit.MoveIt.attach_object
```

````

````{py:method} detach_object(object_id: str, remove: bool = False) -> agents.ros.ActionReturnType
:canonical: agents.components.moveit.MoveIt.detach_object

```{autodoc2-docstring} agents.components.moveit.MoveIt.detach_object
```

````

````{py:method} update_planning_scene() -> agents.ros.ActionReturnType
:canonical: agents.components.moveit.MoveIt.update_planning_scene

```{autodoc2-docstring} agents.components.moveit.MoveIt.update_planning_scene
```

````

`````