How to create a planning scene within fcl using python

asked 2018-01-17 11:20:20 -0600

Mahe gravatar image

updated 2018-01-17 11:20:39 -0600

Hi, I am trying to work on a custom planner for the robot. I need to create to create a planning scene for the same.
From here, I can see that FCL can be used to create planning scene with the obstacles and robot. There is some examples on how to add obstacle objects but I didn't see any examples on adding a robot within the FCL framework.

Let say I have a 7 DOF arm mounted on table and have a brick in front of it as an obstacle.

Can someone help me to construct this scene using FCL with the python binding of FCL from here.

Thanks in advance.

PS: I want to use python binding of FCL only and not with C++.

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