AttachedCollisionMesh

class compas_fab.robots.AttachedCollisionMesh(collision_mesh, link_name, touch_links=None, weight=1.0)[source]

Bases: object

Represents a collision mesh that is attached to a robot’s link.

collision_mesh

The collision mesh we want to attach.

Type

compas_fab.robots.CollisionMesh

link_name

The name of the link the collision mesh will be attached to.

Type

str

touch_links

The list of link names the collision mesh is allowed to touch. Defaults to the link_name it is attached to.

Type

list of str

weight

The weight of the attached object. Defaults to 1.

Type

float

Examples

>>> 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)

Methods

__init__(collision_mesh, link_name[, …])

Initialize self.

__init__(collision_mesh, link_name, touch_links=None, weight=1.0)[source]

Initialize self. See help(type(self)) for accurate signature.