PlanningScene

class compas_fab.robots.PlanningScene(robot)[source]

Bases: object

Represents the planning scene.

Attributes

robot (compas_fab.robots.Robot) – A reference to the robot in the planning scene.

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.