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++.