PlanningScene
- class compas_fab.robots.PlanningScene[source]
Bases:
object
Represents the planning scene.
- Parameters:
- robot
Robot
A reference to the robot in the planning scene.
- robot
- Attributes:
- robot
Robot
A reference to the robot in the planning scene.
client
compas_fab.backend.ClientInterface
: The backend client.
- robot
Methods
Add an attached collision object to the planning scene.
Add the robot's attached tool to the planning scene if tool is set.
Add a collision mesh to the planning scene.
Append a collision mesh to the planning scene.
Attaches a collision mesh to the robot's end-effector.
Ensure that the planning scene's robot has a defined client.
Remove an attached collision object from the planning scene.
Remove the robot's attached tool from the planning scene.
Remove a collision object from the planning scene.
Resets the planning scene, removing all added collision meshes.