A class for managing the state of the planning scene. More...

Public Member Functions
def	__init__
def	addBox
	Insert new box into planning scene.
def	addCube
	Insert new cube to planning scene.
def	addCylinder
	Insert new cylinder into planning scene.
def	addMesh
	Insert a mesh into the planning scene.
def	addSolidPrimitive
	Insert a solid primitive into planning scene.
def	attachBox
	Attach a box into the planning scene.
def	attachMesh
	Attach a mesh into the planning scene.
def	clear
	Clear the planning scene of all objects.
def	getKnownAttachedObjects
	Get a list of names of attached objects.
def	getKnownCollisionObjects
	Get a list of names of collision objects.
def	makeAttached
	Make an attachedCollisionObject.
def	makeMesh
	Make a mesh collision object.
def	makeSolidPrimitive
	Make a solid primitive collision object.
def	removeAttachedObject
	Send message to remove object.
def	removeCollisionObject
	Send message to remove object.
def	sceneCb
	Update the object lists from a PlanningScene message.
def	sendColors
	Actually send the colors to MoveIt!
def	setColor
	Set the color of an object.
def	waitForSync
	Wait for sync.
Private Attributes
	_attached
	_attached_objects
	_attached_pub
	_attached_removed
	_collision
	_colors
	_fixed_frame
	_mutex
	_objects
	_pub
	_removed
	_scene_pub
	_service

Detailed Description

A class for managing the state of the planning scene.

Parameters:

frame	The fixed frame in which planning is being done (needs to be part of robot?)
init_from_service	Whether to initialize our list of objects by calling the service NOTE: this requires that said service be in the move_group launch file, which is not the default from the setup assistant.

Definition at line 50 of file planning_scene_interface.py.

Constructor & Destructor Documentation

def moveit_python.planning_scene_interface.PlanningSceneInterface.__init__	(	self,
		frame,
		init_from_service = `True`
	)

Definition at line 51 of file planning_scene_interface.py.

Member Function Documentation

def moveit_python.planning_scene_interface.PlanningSceneInterface.addBox	(	self,
		name,
		size_x,
		size_y,
		size_z,
		x,
		y,
		z,
		wait = `True`
	)

Insert new box into planning scene.

Parameters:

name	Name of the object
size_x	The x-dimensions size of the box
size_y	The y-dimensions size of the box
size_z	The z-dimensions size of the box
x	The x position in link_name frame
y	The y position in link_name frame
z	The z position in link_name frame
wait	When true, we wait for planning scene to actually update, this provides immunity against lost messages.

Definition at line 241 of file planning_scene_interface.py.

def moveit_python.planning_scene_interface.PlanningSceneInterface.addCube	(	self,
		name,
		size,
		x,
		y,
		z,
		wait = `True`
	)

Insert new cube to planning scene.

Parameters:

wait	When true, we wait for planning scene to actually update, this provides immunity against lost messages.

Definition at line 291 of file planning_scene_interface.py.

def moveit_python.planning_scene_interface.PlanningSceneInterface.addCylinder	(	self,
		name,
		height,
		radius,
		x,
		y,
		z,
		wait = `True`
	)

Insert new cylinder into planning scene.

Parameters:

wait	When true, we wait for planning scene to actually update, this provides immunity against lost messages.

Definition at line 217 of file planning_scene_interface.py.

def moveit_python.planning_scene_interface.PlanningSceneInterface.addMesh	(	self,
		name,
		pose,
		filename,
		wait = `True`
	)

Insert a mesh into the planning scene.

Parameters:

name	Name of the object
pose	A geometry_msgs/Pose for the object
filename	The mesh file to load
wait	When true, we wait for planning scene to actually update, this provides immunity against lost messages.

Definition at line 180 of file planning_scene_interface.py.

def moveit_python.planning_scene_interface.PlanningSceneInterface.addSolidPrimitive	(	self,
		name,
		solid,
		pose,
		wait = `True`
	)

Insert a solid primitive into planning scene.

Parameters:

wait	When true, we wait for planning scene to actually update, this provides immunity against lost messages.

Definition at line 207 of file planning_scene_interface.py.

def moveit_python.planning_scene_interface.PlanningSceneInterface.attachBox	(	self,
		name,
		size_x,
		size_y,
		size_z,
		x,
		y,
		z,
		link_name,
		touch_links = `None`,
		detach_posture = `None`,
		weight = `0.0`,
		wait = `True`
	)

Attach a box into the planning scene.

Parameters:

name	Name of the object
size_x	The x-dimensions size of the box
size_y	The y-dimensions size of the box
size_z	The z-dimensions size of the box
x	The x position in link_name frame
y	The y position in link_name frame
z	The z position in link_name frame
link_name	Name of link to attach this object to
touch_links	Names of robot links that can touch this object
wait	When true, we wait for planning scene to actually update, this provides immunity against lost messages.

Definition at line 267 of file planning_scene_interface.py.

def moveit_python.planning_scene_interface.PlanningSceneInterface.attachMesh	(	self,
		name,
		pose,
		filename,
		link_name,
		touch_links = `None`,
		detach_posture = `None`,
		weight = `0.0`,
		wait = `True`
	)

Attach a mesh into the planning scene.

Parameters:

name	Name of the object
pose	A geometry_msgs/Pose for the object
filename	The mesh file to load
wait	When true, we wait for planning scene to actually update, this provides immunity against lost messages.

Definition at line 193 of file planning_scene_interface.py.

def moveit_python.planning_scene_interface.PlanningSceneInterface.clear ( self )

Clear the planning scene of all objects.

Definition at line 100 of file planning_scene_interface.py.

def moveit_python.planning_scene_interface.PlanningSceneInterface.getKnownAttachedObjects ( self )

Get a list of names of attached objects.

Definition at line 373 of file planning_scene_interface.py.

def moveit_python.planning_scene_interface.PlanningSceneInterface.getKnownCollisionObjects ( self )

Get a list of names of collision objects.

Definition at line 366 of file planning_scene_interface.py.

def moveit_python.planning_scene_interface.PlanningSceneInterface.makeAttached	(	self,
		link_name,
		obj,
		touch_links,
		detach_posture,
		weight
	)

Make an attachedCollisionObject.

Definition at line 162 of file planning_scene_interface.py.

def moveit_python.planning_scene_interface.PlanningSceneInterface.makeMesh	(	self,
		name,
		pose,
		filename
	)

Make a mesh collision object.

Parameters:

name	Name of the object
pose	A geometry_msgs/Pose for the object
filename	The mesh file to load

Definition at line 111 of file planning_scene_interface.py.

def moveit_python.planning_scene_interface.PlanningSceneInterface.makeSolidPrimitive	(	self,
		name,
		solid,
		pose
	)

Make a solid primitive collision object.

Parameters:

name	Name of the object
solid	The solid primitive to add
pose	A geometry_msgs/Pose for the object
wait	When true, we wait for planning scene to actually update, this provides immunity against lost messages.

Definition at line 151 of file planning_scene_interface.py.