add_collision_object()
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add_collision_object()
- 1 Minute to read
Article summary
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Add a collision object to robot's environment.
Reference
Arguments
| Arguments | Type | Default value | Description |
|---|---|---|---|
| id | str | Identifier of the collision object. | |
| types | list | List of shape types for each collision object. | |
| dimensions | list | List of dimensions for each collision object shape. | |
| shapes_poses | list | List of poses for the object's shapes, using quaternion or euler angles as representation for orientation. and the pose is the center of the object referenced to the center of the robot at the floor | |
| units | ANGLE_UNIT | ANGLE_UNIT.DEGREES | Unit for angles (DEGREES or RADIANS). |
Return
None
Exceptions
RayaArmsExceptionRayaArmsInvalidArmOrGroupNameRayaArmsExternalException
See the complete list of arms exceptions
Usage Example
from raya.enumerations import SHAPE_TYPE
...
self.types_table = [SHAPE_TYPE.BOX]
self.poses_table = [{'position': {'x': 0.0,
'y': 0.0,
'z': 0.4},
'orientation': {'roll': 90, 'pitch': 0, 'yaw': 0}}]
self.dimensions_table= [[0.4,
0.3,
0.8]]
await self.arms.add_collision_object(arm=self.arm_name, id="table",
types=self.types_table,
dimensions=self.dimensions_table,
shapes_poses=self.poses_table)
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