panda_autograsp.moveit_collision_objects¶
Module that contains a number of constraint object classes that can be used to add constraint to the moveit planning scene. It was created since the moveit_commander doesn’t yet contain a addCollisionObjects method. As a result using the standard collision_object_msgs and shape_msgs was not ideal.
Classes
Box (name[, size_x, size_y, size_z, x_pos, …]) |
Moveit Box collision object class. |
Cylinder (name[, height, radius, x_pos, …]) |
Moveit cylinder collision object class. |
Mesh (name, file_name[, x_pos, y_pos, z_pos, …]) |
Moveit mesh collision object class. |
Plane (name[, normal_x, normal_y, normal_z, …]) |
Moveit Cube collision object class. |
Sphere (name[, radius, x_pos, y_pos, z_pos, …]) |
Moveit sphere collision object class. |
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class
panda_autograsp.moveit_collision_objects.
Box
(name, size_x=1.0, size_y=1.0, size_z=1.0, x_pos=0.0, y_pos=0.0, z_pos=0.0, x_rot=0.0, y_rot=0.0, z_rot=0.0, w_rot=1.0, reference_frame='world')[source]¶ Moveit Box collision object class.
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pose
¶ The pose of the collision object.
Type: geometry_msgs.PoseStamed
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__init__
(name, size_x=1.0, size_y=1.0, size_z=1.0, x_pos=0.0, y_pos=0.0, z_pos=0.0, x_rot=0.0, y_rot=0.0, z_rot=0.0, w_rot=1.0, reference_frame='world')[source]¶ Parameters: - name (
str
) – The name of the object. - size_x (
float
, optional) – The x-dimensions size of the box, by default 1.0 - size_y (
float
, optional) – The y-dimensions size of the box, by default 1.0 - size_z (
float
, optional) – The z-dimensions size of the box, by default 1.0 - x_pos (
float
, optional) – The x position in link_name frame, by default 0.0. - y_pos (
float
, optional) – The y position in link_name frame, by default 0.0. - z_pos (
float
, optional) – The z position in link_name frame, by default 0.0. - x_rot (
float
, optional) – The x orientation relative to the link_name frame, by default 0.0. - y_rot (
float
, optional) – The y orientation relative to the link_name frame, by default 0.0. - z_rot (
float
, optional) – The z orientation relative to the link_name frame, by default 0.0. - w_rot (
float
, optional) – The w orientation relative to the link_name frame, by default 1.0. - reference_frame (
str
, optional) – The frame in which the pose is expressed, by default world.
- name (
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size
Get the size of the collision object.
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class
panda_autograsp.moveit_collision_objects.
Plane
(name, normal_x=0.0, normal_y=0.0, normal_z=1.0, offset=0.0, x_pos=0.0, y_pos=0.0, z_pos=0.0, x_rot=0.0, y_rot=0.0, z_rot=0.0, w_rot=1.0, reference_frame='world')[source]¶ Moveit Cube collision object class.
Note
This class uses the plane equation Ax+Bx+Cz + D = 0 to construct the plane. In this A,B,C represent the the coordinates of the plane normal (Orientation) and D the offset to the normal.
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normal
¶ Plane normal specified as (x, y, z).
Type: list
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pose
¶ The pose of the collision object.
Type: geometry_msgs.PoseStamed
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__init__
(name, normal_x=0.0, normal_y=0.0, normal_z=1.0, offset=0.0, x_pos=0.0, y_pos=0.0, z_pos=0.0, x_rot=0.0, y_rot=0.0, z_rot=0.0, w_rot=1.0, reference_frame='world')[source]¶ Parameters: - name (
str
) – The name of the object. - normal_x (
float
, optional) – The normal vector x coordinate, by default 0.0. - normal_y (
float
, optional) – The normal vector y coordinate, by default 0.0. - normal_z (
float
, optional) – The normal vector z coordinate, by default 1.0. - offset (py:obj:float, optional) – Plane offset relative to the normal, by default 0.0
- x_pos (
float
, optional) – The x position in link_name frame, by default 0.0. - y_pos (
float
, optional) – The y position in link_name frame, by default 0.0. - z_pos (
float
, optional) – The z position in link_name frame, by default 0.0. - x_rot (
float
, optional) – The x orientation relative to the link_name frame, by default 0.0. - y_rot (
float
, optional) – The y orientation relative to the link_name frame, by default 0.0. - z_rot (
float
, optional) – The z orientation relative to the link_name frame, by default 0.0. - w_rot (
float
, optional) – The w orientation relative to the link_name frame, by default 1.0. - reference_frame (
str
, optional) – The frame in which the pose is expressed, by default world.
- name (
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normal
The plane normal.
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class
panda_autograsp.moveit_collision_objects.
Cylinder
(name, height=1.0, radius=1.0, x_pos=0.0, y_pos=0.0, z_pos=0.0, x_rot=0.0, y_rot=0.0, z_rot=0.0, w_rot=1.0, reference_frame='world')[source]¶ Moveit cylinder collision object class.
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pose
¶ The object pose.
Type: geometry_msgs.PoseStamped
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__init__
(name, height=1.0, radius=1.0, x_pos=0.0, y_pos=0.0, z_pos=0.0, x_rot=0.0, y_rot=0.0, z_rot=0.0, w_rot=1.0, reference_frame='world')[source]¶ Parameters: - name (
str
) – The name of the object. - height (
float
, optional) – The height of the cylinder, by default 1.0 - radius (
float
, optional) – The radius of the cylinder, by default 1.0. - x_pos (
float
, optional) – The x position in link_name frame, by default 0.0. - y_pos (
float
, optional) – The y position in link_name frame, by default 0.0. - z_pos (
float
, optional) – The z position in link_name frame, by default 0.0. - x_rot (
float
, optional) – The x orientation relative to the link_name frame, by default 0.0. - y_rot (
float
, optional) – The y orientation relative to the link_name frame, by default 0.0. - z_rot (
float
, optional) – The z orientation relative to the link_name frame, by default 0.0. - w_rot (
float
, optional) – The w orientation relative to the link_name frame, by default 1.0. - reference_frame (
str
, optional) – The frame in which the pose is expressed, by default world.
- name (
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class
panda_autograsp.moveit_collision_objects.
Sphere
(name, radius=1.0, x_pos=0.0, y_pos=0.0, z_pos=0.0, x_rot=0.0, y_rot=0.0, z_rot=0.0, w_rot=1.0, reference_frame='world')[source]¶ Moveit sphere collision object class.
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pose
¶ The object pose.
Type: geometry_msgs.PoseStamped
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__init__
(name, radius=1.0, x_pos=0.0, y_pos=0.0, z_pos=0.0, x_rot=0.0, y_rot=0.0, z_rot=0.0, w_rot=1.0, reference_frame='world')[source]¶ Parameters: - name (
str
) – The name of the object. - radius (
float
, optional) – The radius of the sphere, by default 1.0. - x_pos (
float
, optional) – The x position in link_name frame, by default 0.0. - y_pos (
float
, optional) – The y position in link_name frame, by default 0.0. - z_pos (
float
, optional) – The z position in link_name frame, by default 0.0. - x_rot (
float
, optional) – The x orientation relative to the link_name frame, by default 0.0. - y_rot (
float
, optional) – The y orientation relative to the link_name frame, by default 0.0. - z_rot (
float
, optional) – The z orientation relative to the link_name frame, by default 0.0. - w_rot (
float
, optional) – The w orientation relative to the link_name frame, by default 1.0. - reference_frame (
str
, optional) – The frame in which the pose is expressed, by default world.
- name (
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class
panda_autograsp.moveit_collision_objects.
Mesh
(name, file_name, x_pos=0.0, y_pos=0.0, z_pos=0.0, x_rot=0.0, y_rot=0.0, z_rot=0.0, w_rot=1.0, reference_frame='world')[source]¶ Moveit mesh collision object class.
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pose
¶ The object pose.
Type: geometry_msgs.PoseStamped
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__init__
(name, file_name, x_pos=0.0, y_pos=0.0, z_pos=0.0, x_rot=0.0, y_rot=0.0, z_rot=0.0, w_rot=1.0, reference_frame='world')[source]¶ Parameters: - name (
str
) – The name of the object - file_name (
str
) – The location of the mesh file. - x_pos (
float
, optional) – The x position in link_name frame, by default 0.0. - y_pos (
float
, optional) – The y position in link_name frame, by default 0.0. - z_pos (
float
, optional) – The z position in link_name frame, by default 0.0. - x_rot (
float
, optional) – The x orientation relative to the link_name frame, by default 0.0. - y_rot (
float
, optional) – The y orientation relative to the link_name frame, by default 0.0. - z_rot (
float
, optional) – The z orientation relative to the link_name frame, by default 0.0. - w_rot (
float
, optional) – The w orientation relative to the link_name frame, by default 1.0. - reference_frame (
str
, optional) – The frame in which the pose is expressed, by default world.
- name (
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