PyBulletPlanner.append_collision_mesh

PyBulletPlanner.append_collision_mesh(*args, **kwargs)[source]

Append a collision mesh to the planning scene.

Parameters

  • collision_mesh (compas_fab.robots.CollisionMesh) – Object containing the collision mesh to be appended.

  • options (dict) – Dictionary containing the following key-value pairs:

    • "concavity": (bool) When False (the default), the mesh will be loaded as its convex hull for collision checking purposes. When True, a non-static mesh will be decomposed into convex parts using v-HACD.

Returns

None