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

Inheritance diagram for moveit_python.planning_scene_interface.PlanningSceneInterface:

Public Member Functions
def	__init__ (self, frame, ns='', init_from_service=True)

def	addBox (self, name, size_x, size_y, size_z, x, y, z, use_service=True, frame_id=None)
	Insert new box into planning scene. More...

def	addCone (self, name, height, radius, x, y, z, use_service=True, frame_id=None)
	Insert new cone into planning scene. More...

def	addCube (self, name, size, x, y, z, use_service=True, frame_id=None)
	Insert new cube to planning scene. More...

def	addCylinder (self, name, height, radius, x, y, z, use_service=True, frame_id=None)
	Insert new cylinder into planning scene. More...

def	addMesh (self, name, pose, filename, use_service=True)
	Insert a mesh into the planning scene. More...

def	addSolidPrimitive (self, name, solid, pose, use_service=True, frame_id=None)
	Insert a solid primitive into planning scene. More...

def	addSphere (self, name, radius, x, y, z, use_service=True, frame_id=None)
	Insert new sphere into planning scene. More...

def	attachBox (self, name, size_x, size_y, size_z, x, y, z, link_name, touch_links=None, detach_posture=None, weight=0.0, use_service=True)
	Attach a box into the planning scene. More...

def	attachMesh (self, name, pose, filename, link_name, touch_links=None, detach_posture=None, weight=0.0, use_service=True)
	Attach a mesh into the planning scene. More...

def	clear (self)
	Clear the planning scene of all objects. More...

def	getKnownAttachedObjects (self)
	Get a list of names of attached objects. More...

def	getKnownCollisionObjects (self)
	Get a list of names of collision objects. More...

def	makeAttached (self, link_name, obj, touch_links, detach_posture, weight)
	Make an attachedCollisionObject. More...

def	makeMesh (self, name, pose, filename)
	Make a mesh collision object. More...

def	makeSolidPrimitive (self, name, solid, pose, frame_id=None)
	Make a solid primitive collision object. More...

def	removeAttachedObject (self, name, use_service=True)
	Send message to remove object. More...

def	removeCollisionObject (self, name, use_service=True)
	Send message to remove object. More...

def	sceneCb (self, msg, initial=False)
	Update the object lists from a PlanningScene message. More...

def	sendColors (self)
	Actually send the colors to MoveIt! More...

def	sendUpdate (self, collision_object, attached_collision_object, use_service=True)
	Send new update to planning scene. More...

def	setColor (self, name, r, g, b, a=0.9)
	Set the color of an object. More...

def	waitForSync (self, max_time=2.0)
	Wait for sync. More...

Private Attributes
	_apply_service

	_attached

	_attached_objects

	_attached_removed

	_collision

	_colors

	_fixed_frame

	_mutex

	_objects

	_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?)
ns	A namespace to push all topics down into.
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 61 of file planning_scene_interface.py.

Constructor & Destructor Documentation

◆ init()

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

Definition at line 62 of file planning_scene_interface.py.

Member Function Documentation

◆ addBox()

def moveit_python.planning_scene_interface.PlanningSceneInterface.addBox	(	self,
		name,
		size_x,
		size_y,
		size_z,
		x,
		y,
		z,
		use_service = `True`,
		frame_id = `None`
	)

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 fixed frame
y	The y position in fixed frame
z	The z position in fixed frame
use_service	If true, update will be sent via apply service
frame_id	Optional frame for the pose, otherwise fixed_frame is used

Definition at line 324 of file planning_scene_interface.py.

◆ addCone()

def moveit_python.planning_scene_interface.PlanningSceneInterface.addCone	(	self,
		name,
		height,
		radius,
		x,
		y,
		z,
		use_service = `True`,
		frame_id = `None`
	)

Insert new cone into planning scene.

Parameters

height	The height of the cone
radius	The radius of the cone
x	The x position in fixed frame
y	The y position in fixed frame
z	The z position in fixed frame
use_service	If true, update will be sent via apply service
frame_id	Optional frame for the pose, otherwise fixed_frame is used

Definition at line 300 of file planning_scene_interface.py.

◆ addCube()

def moveit_python.planning_scene_interface.PlanningSceneInterface.addCube	(	self,
		name,
		size,
		x,
		y,
		z,
		use_service = `True`,
		frame_id = `None`
	)

Insert new cube to planning scene.

Parameters

use_service	If true, update will be sent via apply service
frame_id	Optional frame for the pose, otherwise fixed_frame is used

Definition at line 370 of file planning_scene_interface.py.

◆ addCylinder()

def moveit_python.planning_scene_interface.PlanningSceneInterface.addCylinder	(	self,
		name,
		height,
		radius,
		x,
		y,
		z,
		use_service = `True`,
		frame_id = `None`
	)

Insert new cylinder into planning scene.

Parameters

height	The height of the cylinder
radius	The radius of the cylinder
x	The x position in fixed frame
y	The y position in fixed frame
z	The z position in fixed frame
use_service	If true, update will be sent via apply service
frame_id	Optional frame for the pose, otherwise fixed_frame is used

Definition at line 257 of file planning_scene_interface.py.

◆ addMesh()

def moveit_python.planning_scene_interface.PlanningSceneInterface.addMesh	(	self,
		name,
		pose,
		filename,
		use_service = `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
use_service	If true, update will be sent via apply service

Definition at line 219 of file planning_scene_interface.py.

◆ addSolidPrimitive()

def moveit_python.planning_scene_interface.PlanningSceneInterface.addSolidPrimitive	(	self,
		name,
		solid,
		pose,
		use_service = `True`,
		frame_id = `None`
	)

Insert a solid primitive into planning scene.

Parameters

name	The name of the object
solid	An instance of shape_msgs/SolidPrimitive to add
pose	A geometry_msgs/Pose for the object
use_service	If true, update will be sent via apply service
frame_id	Optional frame for the pose, otherwise fixed_frame is used

Definition at line 244 of file planning_scene_interface.py.

◆ addSphere()

def moveit_python.planning_scene_interface.PlanningSceneInterface.addSphere	(	self,
		name,
		radius,
		x,
		y,
		z,
		use_service = `True`,
		frame_id = `None`
	)

Insert new sphere into planning scene.

Parameters

radius	The radius of the sphere
x	The x position in fixed frame
y	The y position in fixed frame
z	The z position in fixed frame
use_service	If true, update will be sent via apply service
frame_id	Optional frame for the pose, otherwise fixed_frame is used

Definition at line 278 of file planning_scene_interface.py.

◆ attachBox()

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`,
		use_service = `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
use_service	If true, update will be sent via apply service

Definition at line 349 of file planning_scene_interface.py.

◆ attachMesh()

def moveit_python.planning_scene_interface.PlanningSceneInterface.attachMesh	(	self,
		name,
		pose,
		filename,
		link_name,
		touch_links = `None`,
		detach_posture = `None`,
		weight = `0.0`,
		use_service = `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
use_service	If true, update will be sent via apply service

Definition at line 229 of file planning_scene_interface.py.

◆ clear()

def moveit_python.planning_scene_interface.PlanningSceneInterface.clear ( self )

Clear the planning scene of all objects.

Definition at line 132 of file planning_scene_interface.py.

◆ getKnownAttachedObjects()

def moveit_python.planning_scene_interface.PlanningSceneInterface.getKnownAttachedObjects ( self )

Get a list of names of attached objects.

Definition at line 445 of file planning_scene_interface.py.

◆ getKnownCollisionObjects()

def moveit_python.planning_scene_interface.PlanningSceneInterface.getKnownCollisionObjects ( self )

Get a list of names of collision objects.

Definition at line 438 of file planning_scene_interface.py.

◆ makeAttached()

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

Make an attachedCollisionObject.

Definition at line 202 of file planning_scene_interface.py.

◆ makeMesh()

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 143 of file planning_scene_interface.py.

◆ makeSolidPrimitive()

def moveit_python.planning_scene_interface.PlanningSceneInterface.makeSolidPrimitive	(	self,
		name,
		solid,
		pose,
		frame_id = `None`
	)

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
frame_id	Optional frame for the pose, otherwise fixed_frame is used

Definition at line 188 of file planning_scene_interface.py.

◆ removeAttachedObject()

def moveit_python.planning_scene_interface.PlanningSceneInterface.removeAttachedObject	(	self,
		name,
		use_service = `True`
	)

Send message to remove object.

Parameters

use_service

If true, update will be sent via apply service

Remove an attached object.

Definition at line 393 of file planning_scene_interface.py.

◆ removeCollisionObject()

def moveit_python.planning_scene_interface.PlanningSceneInterface.removeCollisionObject	(	self,
		name,
		use_service = `True`
	)

Send message to remove object.

Parameters

use_service

If true, update will be sent via apply service

Remove an object.

Definition at line 375 of file planning_scene_interface.py.

◆ sceneCb()

def moveit_python.planning_scene_interface.PlanningSceneInterface.sceneCb	(	self,
		msg,
		initial = `False`
	)

Update the object lists from a PlanningScene message.

Recieve updates from move_group.

Definition at line 408 of file planning_scene_interface.py.

◆ sendColors()

def moveit_python.planning_scene_interface.PlanningSceneInterface.sendColors ( self )

Actually send the colors to MoveIt!

Definition at line 500 of file planning_scene_interface.py.

◆ sendUpdate()

def moveit_python.planning_scene_interface.PlanningSceneInterface.sendUpdate	(	self,
		collision_object,
		attached_collision_object,
		use_service = `True`
	)

Send new update to planning scene.

Parameters

collision_object	A collision object to add to scene, or None
attached_collision_object	Attached collision object to add to scene, or None
use_service	If true, update will be sent via apply service, otherwise by topic

Definition at line 114 of file planning_scene_interface.py.