moveit_commander.planning_scene_interface.PlanningSceneInterface Class Reference

Inheritance diagram for moveit_commander.planning_scene_interface.PlanningSceneInterface:

Public Member Functions
def	__init__ (self, ns="", synchronous=True)
def	add_box (self, name, pose, size=(1, 1, 1))
def	add_cone (self, name, pose, height, radius)
def	add_cylinder (self, name, pose, height, radius)
def	add_mesh (self, name, pose, filename, size=(1, 1, 1))
def	add_object (self, collision_object)
def	add_plane (self, name, pose, normal=(0, 0, 1), offset=0)
def	add_sphere (self, name, pose, radius=1)
def	apply_planning_scene (self, planning_scene_message)
def	attach_box (self, link, name, pose=None, size=(1, 1, 1), touch_links=None)
def	attach_cylinder (self, link, name, pose=None, height=1, radius=1, touch_links=None)
def	attach_mesh (self, link, name, pose=None, filename="", size=(1, 1, 1), touch_links=None)
def	attach_object (self, object, link=None, touch_links=None)
def	attach_sphere (self, link, name, pose=None, radius=1, touch_links=None)
def	clear (self)
def	get_attached_objects (self, object_ids=[])
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_planning_scene (self, components)
def	make_plane (self, name, pose, normal=(0, 0, 1), offset=0)
def	remove_attached_object (self, link=None, name=None)
def	remove_world_object (self, name=None)

Static Public Member Functions
def	make_box (name, pose, size)
def	make_cone (name, pose, height, radius)
def	make_cylinder (name, pose, height, radius)
def	make_mesh (name, pose, filename, scale=(1, 1, 1))
def	make_sphere (name, pose, radius)

Private Member Functions
def	__submit (self, collision_object, attach=False)

Static Private Member Functions
def	__make_existing (name)
def	__make_primitive (name, pose, type, shape_args)

Private Attributes
	__synchronous
	_psi
	_pub_aco
	_pub_co

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 60 of file planning_scene_interface.py.

Constructor & Destructor Documentation

__init__()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__init__	(		self,
			ns = "",
			synchronous = True
	)

Definition at line 68 of file planning_scene_interface.py.

Member Function Documentation

__make_existing()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__make_existing (   name )

staticprivate

Create an empty Collision Object. Used when the object already exists

Definition at line 281 of file planning_scene_interface.py.

__make_primitive()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__make_primitive (   name,   pose,   type,   shape_args  )

staticprivate

Definition at line 290 of file planning_scene_interface.py.

__submit()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.__submit (   self,   collision_object,   attach = False  )

private

Definition at line 82 of file planning_scene_interface.py.

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 122 of file planning_scene_interface.py.

add_cone()

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

Add a cylinder to the planning scene

Definition at line 112 of file planning_scene_interface.py.

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 107 of file planning_scene_interface.py.

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 117 of file planning_scene_interface.py.

add_object()

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

Add an object to the planning scene

Definition at line 98 of file planning_scene_interface.py.

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 127 of file planning_scene_interface.py.

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 102 of file planning_scene_interface.py.

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 272 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 = None
	)

Create box and attach it to the given link

Definition at line 157 of file planning_scene_interface.py.

attach_cylinder()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.attach_cylinder	(		self,
			link,
			name,
			pose = None,
			height = 1,
			radius = 1,
			touch_links = None
	)

Create cylinder and attach it to the given link

Definition at line 173 of file planning_scene_interface.py.

attach_mesh()

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

Create mesh and attach it to the given link

Definition at line 147 of file planning_scene_interface.py.

attach_object()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.attach_object	(		self,
			object,
			link = None,
			touch_links = None
	)

Attach an object to the given link

Definition at line 132 of file planning_scene_interface.py.

attach_sphere()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.attach_sphere	(		self,
			link,
			name,
			pose = None,
			radius = 1,
			touch_links = None
	)

Create sphere and attach it to the given link

Definition at line 165 of file planning_scene_interface.py.

clear()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.clear

(

self

)

Remove all objects from the planning scene

Definition at line 183 of file planning_scene_interface.py.

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 254 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 213 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 219 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 230 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 242 of file planning_scene_interface.py.

get_planning_scene()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.get_planning_scene	(		self,
			components
	)

Get move_group's current planning scene

Definition at line 266 of file planning_scene_interface.py.

make_box()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.make_box (   name,   pose,   size  )

static

Definition at line 303 of file planning_scene_interface.py.

make_cone()

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

static

Definition at line 370 of file planning_scene_interface.py.

make_cylinder()

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

static

Definition at line 364 of file planning_scene_interface.py.

make_mesh()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.make_mesh (   name,   pose,   filename,   scale = (1, 1, 1)  )

static

Definition at line 309 of file planning_scene_interface.py.

make_plane()

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

Definition at line 375 of file planning_scene_interface.py.

make_sphere()

def moveit_commander.planning_scene_interface.PlanningSceneInterface.make_sphere (   name,   pose,   radius  )

static

Definition at line 358 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 197 of file planning_scene_interface.py.

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 187 of file planning_scene_interface.py.

Member Data Documentation

__synchronous

moveit_commander.planning_scene_interface.PlanningSceneInterface.__synchronous

private

Definition at line 70 of file planning_scene_interface.py.

_psi

moveit_commander.planning_scene_interface.PlanningSceneInterface._psi

private

Definition at line 69 of file planning_scene_interface.py.

_pub_aco

moveit_commander.planning_scene_interface.PlanningSceneInterface._pub_aco

private

Definition at line 76 of file planning_scene_interface.py.

_pub_co

moveit_commander.planning_scene_interface.PlanningSceneInterface._pub_co

private

Definition at line 73 of file planning_scene_interface.py.

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

• planning_scene_interface.py