PlanningScene.add_attached_collision_mesh

PlanningScene.add_attached_collision_mesh(attached_collision_mesh, scale=False)[source]

Add an attached collision object to the planning scene.

Parameters

• attached_collision_mesh (AttachedCollisionMesh) – The AttachedCollisionMesh (a CollisionMesh attached to a Robot’s Link) that we want to add to the PlanningScene.

• scale (bool, optional) – If True, the mesh will be copied and scaled according to the robot’s scale factor.

Returns

None

Examples

>>> scene = PlanningScene(robot)
>>> mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl'))
>>> cm = CollisionMesh(mesh, 'tip')
>>> ee_link_name = 'ee_link'
>>> touch_links = ['wrist_3_link', 'ee_link']
>>> acm = AttachedCollisionMesh(cm, ee_link_name, touch_links)
>>> scene.add_attached_collision_mesh(acm)