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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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  • $\begingroup$ i think that the phrase that you want is scene map instead of planning scene ... maybe even immediate surroundings map $\endgroup$ – jsotola Jan 18 '18 at 5:35
  • $\begingroup$ Have you tried OpenRAVE? You can use fcl as a collision checker there as well. $\endgroup$ – Petch Puttichai Jan 18 '18 at 12:14

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