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.