PlanningScene

class compas_fab.robots.PlanningScene[source]

Bases: object

Represents the planning scene.

Parameters:
robotRobot

A reference to the robot in the planning scene.

Attributes:
robotRobot

A reference to the robot in the planning scene.

client

compas_fab.backend.ClientInterface: The backend client.

Methods

add_attached_collision_mesh

Add an attached collision object to the planning scene.

add_attached_tool

Add the robot's attached tool to the planning scene if tool is set.

add_collision_mesh

Add a collision mesh to the planning scene.

append_collision_mesh

Append a collision mesh to the planning scene.

attach_collision_mesh_to_robot_end_effector

Attaches a collision mesh to the robot's end-effector.

ensure_client

Ensure that the planning scene's robot has a defined client.

remove_attached_collision_mesh

Remove an attached collision object from the planning scene.

remove_attached_tool

Remove the robot's attached tool from the planning scene.

remove_collision_mesh

Remove a collision object from the planning scene.

reset

Resets the planning scene, removing all added collision meshes.