PyBulletPlanner.add_collision_mesh

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

Add a collision mesh to the planning scene.

Parameters

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

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

  • "mass": (float) The mass of the object, in kg. If 0 is given, (the default), the object added is static.

  • "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