Data flow · compas_fab native backend
What set_robot_cell builds
What set_robot_cell builds
The cell is split by planning group: moving links and carried objects become spheres (cached by mesh), everything else becomes obstacles, and both go to the core with the exact meshes.
BY MESH HASH
RobotCell
+ RobotCellState
Split by group
planning_links
Moving links
the group's tree
Carried objects
tool · workpiece
Everything else
static links
other robots + tools
parked tools
free rigid bodies
Sphere fit
per link, scored
Sphere cache
memory + disk
Obstacles
boxes or ESDF
CORE
NativeCore
robot + scene
+ exact meshes
LEGEND
input
step
cache
the core, ready to plan