PlanningScene.add_collision_mesh

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

Adds a collision mesh to the planning scene.

If the object with the same name previously existed, it is replaced.

Parameters

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

• scale (bool, optional) – If True, the mesh will be 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)