def __init__(self):
self._g = PlanningSceneInterface()
def __init__(self):
self._g = PlanningSceneInterface()
class PlanningScene:
def __init__(self):
self._g = PlanningSceneInterface()
def add_sphere(self, id_name, frame_id, position, orientation, radius):
"""
Add sphere to the planning scene in specified frame
position: [x,y,z]
orientation: [x,y,z,w]
"""
self._g.add_sphere(id_name, frame_id, position, orientation, radius)
def add_cylinder(self, id_name, frame_id, position, orientation, height, radius):
self._g.add_cylinder(id_name, frame_id, position, orientation, height, radius)
def add_box(self, id_name, frame_id, position, orientation, length, width, height):
self._g.add_box(id_name, frame_id, position, orientation, length, width, height)
def add_cone(self, id_name, frame_id, position, orientation, height, radius):
self._g.add_cone(id_name, frame_id, position, orientation, height, radius)
def remove_simple_object(self, id_name, frame_id):
"""
Remove object from planning scene with id_name and frame_id
"""
self._g.remove_simple_object(id_name, frame_id)
def attach_sphere(self, id_name, frame_id, link_name, touch_links, position, orientation, radius):
"""
Add sphere to the planning scene in attached to specified link
touch_links: [link1, link2, link3, etc] <- links that object can touch
position: [x,y,z]
orientation: [x,y,z,w]
"""
self._g.attach_sphere(id_name, frame_id, link_name, touch_links, position, orientation, radius)
def attach_cylinder(self, id_name, frame_id, link_name, touch_links, position, orientation, height, radius):
self._g.attach_cylinder(id_name, frame_id, link_name, touch_links, position, orientation, height, radius)
def attach_box(self, id_name, frame_id, link_name, touch_links, position, orientation, length, width, height):
self._g.attach_box(id_name, frame_id, link_name, touch_links, position, orientation, length, width, height)
def attach_cone(self, id_name, frame_id, link_name, touch_links, position, orientation, height, radius):
self._g.attach_cone(id_name, frame_id, link_name, touch_links, position, orientation, height, radius)
def remove_simple_attached_object(self, id_name, frame_id, link_name):
"""
Detach object from link, add it back into planning scene
"""
self._g.remove_simple_attached_object(id_name, frame_id, link_name)
class PlanningScene:
def __init__(self):
self._g = PlanningSceneInterface()
def add_sphere(self, id_name, frame_id, position, orientation, radius):
"""
Add sphere to the planning scene in specified frame
position: [x,y,z]
orientation: [x,y,z,w]
"""
self._g.add_sphere(id_name, frame_id, position, orientation, radius)
def add_cylinder(self, id_name, frame_id, position, orientation, height,
radius):
self._g.add_cylinder(id_name, frame_id, position, orientation, height,
radius)
def add_box(self, id_name, frame_id, position, orientation, length, width,
height):
self._g.add_box(id_name, frame_id, position, orientation, length,
width, height)
def add_cone(self, id_name, frame_id, position, orientation, height,
radius):
self._g.add_cone(id_name, frame_id, position, orientation, height,
radius)
def remove_simple_object(self, id_name, frame_id):
"""
Remove object from planning scene with id_name and frame_id
"""
self._g.remove_simple_object(id_name, frame_id)
def attach_sphere(self, id_name, frame_id, link_name, touch_links,
position, orientation, radius):
"""
Add sphere to the planning scene in attached to specified link
touch_links: [link1, link2, link3, etc] <- links that object can touch
position: [x,y,z]
orientation: [x,y,z,w]
"""
self._g.attach_sphere(id_name, frame_id, link_name, touch_links,
position, orientation, radius)
def attach_cylinder(self, id_name, frame_id, link_name, touch_links,
position, orientation, height, radius):
self._g.attach_cylinder(id_name, frame_id, link_name, touch_links,
position, orientation, height, radius)
def attach_box(self, id_name, frame_id, link_name, touch_links, position,
orientation, length, width, height):
self._g.attach_box(id_name, frame_id, link_name, touch_links, position,
orientation, length, width, height)
def attach_cone(self, id_name, frame_id, link_name, touch_links, position,
orientation, height, radius):
self._g.attach_cone(id_name, frame_id, link_name, touch_links,
position, orientation, height, radius)
def remove_simple_attached_object(self, id_name, frame_id, link_name):
"""
Detach object from link, add it back into planning scene
"""
self._g.remove_simple_attached_object(id_name, frame_id, link_name)
