PyBulletPlanner.append_collision_mesh

PyBulletPlanner.append_collision_mesh(collision_mesh, options=None)

Append a collision mesh to the planning scene.

Parameters:

collision_meshcompas_fab.robots.CollisionMesh

Object containing the collision mesh to be appended.

optionsdict

Dictionary containing the following key-value pairs:

• "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