Expose planning scene to user

pymoveit2/moveit2.py

@@ -15,6 +15,7 @@
     JointConstraint,
     MoveItErrorCodes,
     OrientationConstraint,
+    PlanningScene,
     PositionConstraint,
 )
 from moveit_msgs.srv import (
@@ -1801,7 +1802,7 @@ def move_collision(
 
         self.__collision_object_publisher.publish(msg)
 
-    def __update_planning_scene(self) -> bool:
+    def update_planning_scene(self) -> bool:
         """
         Gets the current planning scene. Returns whether the service call was
         successful.
@@ -1830,7 +1831,7 @@ def allow_collisions(self, id: str, allow: bool) -> Optional[Future]:
         Returns the future of the service call.
         """
         # Update the planning scene
-        if not self.__update_planning_scene():
+        if not self.update_planning_scene():
             return None
         allowed_collision_matrix = self.__planning_scene.allowed_collision_matrix
         self.__old_allowed_collision_matrix = copy.deepcopy(allowed_collision_matrix)
@@ -1935,11 +1936,11 @@ def _plan_cartesian_path(
         )
 
         # The below attributes were introduced in Iron and do not exist in Humble.
-        if hasattr(__cartesian_path_request, 'max_velocity_scaling_factor'):
+        if hasattr(__cartesian_path_request, "max_velocity_scaling_factor"):
             self.__cartesian_path_request.max_velocity_scaling_factor = (
                 self.__move_action_goal.request.max_velocity_scaling_factor
             )
-        if hasattr(__cartesian_path_request, 'max_acceleration_scaling_factor'):
+        if hasattr(__cartesian_path_request, "max_acceleration_scaling_factor"):
             self.__cartesian_path_request.max_acceleration_scaling_factor = (
                 self.__move_action_goal.request.max_acceleration_scaling_factor
             )
@@ -2206,6 +2207,10 @@ def __init_compute_ik(self):
         # self.__compute_ik_req.ik_request.timeout.sec = "Ignored"
         # self.__compute_ik_req.ik_request.timeout.nanosec = "Ignored"
 
+    @property
+    def planning_scene(self) -> Optional[PlanningScene]:
+        return self.__planning_scene
+
     @property
     def follow_joint_trajectory_action_client(self) -> str:
         return self.__follow_joint_trajectory_action_client