add_collision_object()¶

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¶

RayaArmsException
RayaArmsInvalidArmOrGroupName
RayaArmsExternalException

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)