panda_autograsp.functions.moveit.add_collision_objects

panda_autograsp.functions.moveit.add_collision_objects(scene_commander, collision_cfg)[source]

Add the collision objects that are specified in the collision_cfg collections.OrderedDict to the moveit planner scene. Supported constraint types are:

  • Box
  • Cube
  • Cylinder
  • Mesh

For more information see http://bit.ly/32GuuMN.

Parameters:
  • scene_commander (moveit_commander.PlanningSceneInterface) – The moveit scene commander object.
  • collision_cfg (collections.OrderedDict) – The dictionary specifying all the moveit scene constraints.