remove_collision_object()
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remove_collision_object()
- 1 Minute to read
Article summary
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Remove the collision object to robot's environment.
Reference
Arguments
| Arguments | Type | Default value | Description |
|---|---|---|---|
| id | str | '' | ID of the collision object to remove (optional) |
| remove_all_objects | bool | True | Whether to remove all collision objects (optional) |
Return
None
Exceptions
RayaArmsExceptionRayaArmsInvalidArmOrGroupNameRayaArmsExternalException
See the complete list of arms exceptions
Usage Example
Remove Specific ID
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)
await self.arms.remove_attached_object( id = "table",
remove_all_objects = False)
Remove All attached
from raya.enumerations import SHAPE_TYPE
...
self.types_table= [SHAPE_TYPE.BOX]
self.poses_table = [{'position': {'x': 0.0,
'y': 0.0,
'z': -0.05},
'orientation': {'x': 0, 'y': 0, 'z': 0, 'w': 1}}]
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)
await self.arms.remove_attached_object()
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