PlanningScene.attach_collision_mesh_to_robot_end_effector

PlanningScene.attach_collision_mesh_to_robot_end_effector(collision_mesh, scale=False, group=None)

Attaches a collision mesh to the robot’s end-effector.

Parameters:

collision_mesh: :class:`CollisionMesh`

The collision mesh to attach to robot’s end effector.

scalebool, optional

If True, the mesh will be copied and scaled according to the robot’s scale factor.

groupstr

The planning group with the end effector we want to attach the mesh to. Defaults to the robot’s main planning group.

Returns:

None

Examples

>>> with RosClient() as client:
...     robot = client.load_robot()
...     scene = PlanningScene(robot)
...     mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl'))
...     cm = CollisionMesh(mesh, 'tip')
...     group = robot.main_group_name
...     scene.attach_collision_mesh_to_robot_end_effector(cm, group=group)      # attach to ee
...     scene.remove_attached_collision_mesh('tip')                             # now detach