moveit_commander.planning_scene_interface.PlanningSceneInterface Class Reference

Inheritance diagram for moveit_commander.planning_scene_interface.PlanningSceneInterface:

Collaboration diagram for moveit_commander.planning_scene_interface.PlanningSceneInterface:

Public Member Functions
def	__init__ (self, ns="", synchronous=False, service_timeout=5.0)
def	add_object (self, collision_object)
def	add_sphere (self, name, pose, radius=1)
def	add_cylinder (self, name, pose, height, radius)
def	add_mesh (self, name, pose, filename, size=(1, 1, 1))
def	add_box (self, name, pose, size=(1, 1, 1))
def	add_plane (self, name, pose, normal=(0, 0, 1), offset=0)
def	attach_object (self, attached_collision_object)
def	attach_mesh (self, link, name, pose=None, filename="", size=(1, 1, 1), touch_links=[])
def	attach_box (self, link, name, pose=None, size=(1, 1, 1), touch_links=[])
def	clear (self)
def	remove_world_object (self, name=None)
def	remove_attached_object (self, link=None, name=None)
def	get_known_object_names (self, with_type=False)
def	get_known_object_names_in_roi (self, minx, miny, minz, maxx, maxy, maxz, with_type=False)
def	get_object_poses (self, object_ids)
def	get_objects (self, object_ids=[])
def	get_attached_objects (self, object_ids=[])
def	apply_planning_scene (self, planning_scene_message)

Detailed Description

Python interface for a C++ PlanningSceneInterface.
Uses both C++ wrapped methods and scene manipulation topics
to manipulate the PlanningScene managed by the PlanningSceneMonitor.
See wrap_python_planning_scene_interface.cpp for the wrapped methods.

Definition at line 59 of file planning_scene_interface.py.

Constructor & Destructor Documentation

__init__()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__init__	(		self,
			ns = "",
			synchronous = False,
			service_timeout = 5.0
	)

Create a planning scene interface; it uses both C++ wrapped methods and scene manipulation topics.

Definition at line 67 of file planning_scene_interface.py.

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Member Function Documentation

add_box()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.add_box	(		self,
			name,
			pose,
			size = (1, 1, 1)
	)

Add a box to the planning scene

Definition at line 115 of file planning_scene_interface.py.

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add_cylinder()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.add_cylinder	(		self,
			name,
			pose,
			height,
			radius
	)

Add a cylinder to the planning scene

Definition at line 105 of file planning_scene_interface.py.

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add_mesh()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.add_mesh	(		self,
			name,
			pose,
			filename,
			size = (1, 1, 1)
	)

Add a mesh to the planning scene

Definition at line 110 of file planning_scene_interface.py.

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add_object()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.add_object	(		self,
			collision_object
	)

Add an object to the planning scene

Definition at line 96 of file planning_scene_interface.py.

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add_plane()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.add_plane	(		self,
			name,
			pose,
			normal = (0, 0, 1),
			offset = 0
	)

Add a plane to the planning scene

Definition at line 120 of file planning_scene_interface.py.

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add_sphere()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.add_sphere	(		self,
			name,
			pose,
			radius = 1
	)

Add a sphere to the planning scene

Definition at line 100 of file planning_scene_interface.py.

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apply_planning_scene()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.apply_planning_scene	(		self,
			planning_scene_message
	)

Applies the planning scene message.

Definition at line 248 of file planning_scene_interface.py.

attach_box()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.attach_box	(		self,
			link,
			name,
			pose = None,
			size = (1, 1, 1),
			touch_links = []
	)

Definition at line 151 of file planning_scene_interface.py.

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attach_mesh()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.attach_mesh	(		self,
			link,
			name,
			pose = None,
			filename = "",
			size = (1, 1, 1),
			touch_links = []
	)

Definition at line 137 of file planning_scene_interface.py.

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attach_object()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.attach_object	(		self,
			attached_collision_object
	)

Attach an object in the planning scene

Definition at line 133 of file planning_scene_interface.py.

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clear()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.clear

(

self

)

Remove all objects from the planning scene

Definition at line 164 of file planning_scene_interface.py.

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get_attached_objects()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_attached_objects	(		self,
			object_ids = []
	)

Get the attached objects identified by the given object ids list. If no ids are provided, return all the attached objects.

Definition at line 236 of file planning_scene_interface.py.

get_known_object_names()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_known_object_names	(		self,
			with_type = False
	)

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.

Definition at line 195 of file planning_scene_interface.py.

get_known_object_names_in_roi()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_known_object_names_in_roi	(		self,
			minx,
			miny,
			minz,
			maxx,
			maxy,
			maxz,
			with_type = False
	)

Get the names of known objects in the world that are located within a bounding region (specified in the frame reported by
get_planning_frame()). If with_type is set to true, only return objects that have a known type.

Definition at line 201 of file planning_scene_interface.py.

get_object_poses()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_object_poses	(		self,
			object_ids
	)

Get the poses from the objects identified by the given object ids list.

Definition at line 212 of file planning_scene_interface.py.

get_objects()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_objects	(		self,
			object_ids = []
	)

Get the objects identified by the given object ids list. If no ids are provided, return all the known objects.

Definition at line 224 of file planning_scene_interface.py.

remove_attached_object()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.remove_attached_object	(		self,
			link = None,
			name = None
	)

Remove an attached object from the robot, or all objects attached to the link if no name is provided,
or all attached objects in the scene if neither link nor name are provided.

Removed attached objects remain in the scene as world objects.
Call remove_world_object afterwards to remove them from the scene.

Definition at line 179 of file planning_scene_interface.py.

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remove_world_object()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.remove_world_object	(		self,
			name = None
	)

Remove an object from planning scene, or all if no name is provided

Definition at line 169 of file planning_scene_interface.py.

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The documentation for this class was generated from the following file:

• moveit_commander/src/moveit_commander/planning_scene_interface.py