PlanningScene

class compas_fab.robots.PlanningScene(robot)

Bases: object

Represents the planning scene.

robot

A reference to the robot in the planning scene.

Type

compas_fab.robots.Robot

Examples

Methods

__init__(robot)	Initialize self.
add_attached_collision_mesh(…[, scale])	Adds an attached collision object to the planning scene.
add_attached_tool()	Adds the robot’s attached tool to the planning scene if set.
add_collision_mesh(collision_mesh[, scale])	Adds a collision mesh to the planning scene.
append_collision_mesh(collision_mesh[, scale])	Appends a collision mesh that already exists in the planning scene.
attach_collision_mesh_to_robot_end_effector(…)	Attaches a collision mesh to the robot’s end-effector.
ensure_client()
remove_attached_collision_mesh(id)	Removes an attached collision object from the planning scene.
remove_attached_tool()	Removes the robot’s attached tool from the planning scene.
remove_collision_mesh(id)	Removes a collision object from the planning scene.

Attributes

client

The backend client.

__init__(robot)

Initialize self. See help(type(self)) for accurate signature.