PyBulletPlanner.add_attached_collision_mesh

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

Add a collision mesh and attach it to the robot.

Parameters

• attached_collision_mesh (compas_fab.robots.AttachedCollisionMesh) – Object containing the collision mesh to be attached.

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

  • "robot": (compas_fab.robots.Robot) Robot instance to which the object should be attached.

  • "mass": (float) The mass of the attached collision object. Defaults to 1.

  • inertia": (list) The elements of the inertia matrix of the attached collision object given as [<ixx>, <ixy>, <ixz>, <iyy>, <iyz>, <izz>]. Defaults to [1., 0., 0., 1., 0., 1.].

  • "inertial_origin": (compas.geometry.Frame) This is the pose of the inertial reference frame, relative to the link reference frame. Defaults to compas.geometry.Frame.worldXY().

  • ``”collision_origin”``(compas.geometry.Frame) This is the pose of the collision reference frame, relative to the link reference frame. Defaults to compas.geometry.Frame.worldXY().

  • "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