PlanningScene¶

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

Bases: object

Represents the planning scene.

Parameters

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

Attributes

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

• client – A reference to the robot’s backend client.

Methods

__init__(robot)	Initialize self.
add_attached_collision_mesh(…[, scale])	Add an attached collision object to the planning scene.
add_attached_tool([tool])	Add the robot’s attached tool to the planning scene if tool is set.
add_collision_mesh(collision_mesh[, scale])	Add a collision mesh to the planning scene.
append_collision_mesh(collision_mesh[, scale])	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(id)	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(id)	Remove a collision object from the planning scene.
reset()	Resets the planning scene, removing all added collision meshes.

Attributes

client

The backend client.