Class PlanningSceneInterface
LUA wrapper for moveit PlanningSceneInterface environment dependency to tourch.ros
Methods
| PlanningSceneInterface:addBox (id, w, h, t, pose) | Add a solit box as a collision object into the planning scene. |
| PlanningSceneInterface:addSphere (id, radius, pose) | Add a solit sphere as a collision object into the planning scene. |
| PlanningSceneInterface:addPlane (id, a, b, c, d, pose) | Add a solit plane as a collision object into the planning scene. |
| PlanningSceneInterface:addCollisionObject (collision_object) | Add a collision object. |
| PlanningSceneInterface:removeCollisionObjects (object_ids) | function addCollisionObject Remove a collision object |
| PlanningSceneInterface:getKnownObjectNames ([with_type]) | Get the names of all known objects in the world. |
| PlanningSceneInterface:getKnownObjectNamesInROI (minx, miny, minz, maxx, maxy, maxz[, with_type=false[, types]]) | Get the names of known objects in the world that are located within a bounding region (specified in the frame reported by getPlanningFrame()). |
| PlanningSceneInterface:getObjectPoses ([object_ids]) | Get poses of objects specified in object_ids |
Methods
- PlanningSceneInterface:addBox (id, w, h, t, pose)
-
Add a solit box as a collision object into the planning scene.
Parameters:
- id string
- w number
- h number
- t number
- pose tf.Transform
- PlanningSceneInterface:addSphere (id, radius, pose)
-
Add a solit sphere as a collision object into the planning scene.
Parameters:
- id string
- radius number
- pose tf.Transform
- PlanningSceneInterface:addPlane (id, a, b, c, d, pose)
-
Add a solit plane as a collision object into the planning scene.
ax + by + cz + d = 0
Parameters:
- id string
- a number
- b number
- c number
- d number
- pose tf.Transform
- PlanningSceneInterface:addCollisionObject (collision_object)
-
Add a collision object.
Parameters:
- collision_object moveit.CollisionObject
- PlanningSceneInterface:removeCollisionObjects (object_ids)
-
function addCollisionObject
Remove a collision object
Parameters:
- object_ids table as strings
- PlanningSceneInterface:getKnownObjectNames ([with_type])
-
Get the names of all known objects in the world.
If with_type is set to true, only return objects that have a known type.Parameters:
- with_type bool (optional)
Returns:
-
std.StringVector
- PlanningSceneInterface:getKnownObjectNamesInROI (minx, miny, minz, maxx, maxy, maxz[, with_type=false[, types]])
-
Get the names of known objects in the world that are located within a bounding region (specified in the frame reported by getPlanningFrame()).
If with_type is set to true, only return objects that have a known type.
Parameters:
- minx number
- miny number
- minz number
- maxx number
- maxy number
- maxz number
- with_type bool (default false)
- types std.StringVector or list (optional)
Returns:
-
std.StringVector()
- PlanningSceneInterface:getObjectPoses ([object_ids])
-
Get poses of objects specified in object_ids
Parameters:
- object_ids std.StringVector or list (optional)
Returns:
- bool
- torch.DoubleTensor