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This package provides a library that can be used to represent the environment and the robot itself. It is used to generate collision information for contacts between the robot and the world. Object information can be added to this world either as raw point cloud information or as 3D meshes of known objects. The planning_environment package provides a ROS API to the collision space and can be used to modify the collision environment throough a set of service calls.


2024-07-20 13:20