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.OrderedDictto 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.