PlanningScene.append_collision_mesh

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

Appends a collision mesh that already exists in the planning scene.

If the does not exist, it is added.

Parameters

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

• 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.append_collision_mesh(cm)