panda_autograsp.functions.moveit.wait_for_state_update

panda_autograsp.functions.moveit.wait_for_state_update(scene_commander, collision_obj, is_known=False, is_attached=False, timeout=4)

Validate if collision object state change was successful.

Parameters:

• scene_commander (moveit_commander.PlanningSceneInterface) – The moveit scene commander object.
• collision_obj (moveit_collision_objects) – The moveit collision object.
• is_known (bool, optional) – Bool specifying whether an object is known, by default False
• is_attached (bool, optional) – Bool specifying whether an object is attached to something, by default False
• timeout (int, optional) – The validation timeout time, by default 4

Returns:

• bool – Boolean specifying whether the scene update was successful.
• .. note:: – Note that attaching the box will remove it from known_objects.