remove_collision_object()

---

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

• RayaArmsException

• RayaArmsInvalidArmOrGroupName

• RayaArmsExternalException

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()