CollisionMesh

class compas_fab.robots.CollisionMesh(mesh, id, frame=None, root_name=None)[source]

Bases: object

Represents a collision mesh.

Parameters

mesh (compas.datastructures.Mesh) – The collision mesh. Ideally it is as coarse as possible.
id (str) – The id of the mesh, used to identify it for later operations (add_collision_mesh(), remove_collision_mesh(), append_collision_mesh() etc.)
frame (compas.geometry.Frame, optional) – The frame of the mesh. Defaults to compas.geometry.Frame.worldXY().
root_name (str) – The name of the root link the collision mesh will be placed in. Defaults to 'world'.

Attributes

mesh (compas.datastructures.Mesh) – The collision mesh. Ideally it is as coarse as possible.
id (str) – The id of the mesh, used to identify it for later operations (add_collision_mesh(), remove_collision_mesh(), append_collision_mesh() etc.)
frame (compas.geometry.Frame, optional) – The frame of the mesh. Defaults to compas.geometry.Frame.worldXY().
root_name (str) – The name of the root link the collision mesh will be placed in. Defaults to 'world'.

Examples

>>> mesh = Mesh.from_stl(compas_fab.get('planning_scene/floor.stl'))
>>> cm = CollisionMesh(mesh, 'floor')
>>> cm.frame
Frame(Point(0.000, 0.000, 0.000), Vector(1.000, 0.000, 0.000), Vector(0.000, 1.000, 0.000))

Methods

`from_data`	Construct a collision mesh from its data representation.
`scale`	Scales the collision mesh uniformly.
`scaled`	Copies the collision mesh, and scales the copy uniformly.
`to_data`	Get the data dictionary that represents the collision mesh.

CollisionMesh

COMPAS