PlanningScene.add_collision_mesh

PlanningScene.add_collision_mesh(collision_mesh, scale=False)[source]

Add a collision mesh to the planning scene.

If there is already a CollisionMesh in the PlanningScene with the same id it will be replaced.

Parameters

  • collision_mesh (CollisionMesh) – The collision mesh we want to add.

  • 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/floor.stl'))
>>> cm = CollisionMesh(mesh, 'floor')
>>> scene.add_collision_mesh(cm)