Update planning scene examples

Author: gonzalocasas

docs/examples/03_backends_ros/03_collision_objects.rst

@@ -18,6 +18,11 @@ This is the representation of the planning scene in RViz with the UR5.
     :figclass: figure
     :class: figure-img img-fluid
 
+.. note::
+
+    If using Docker to run ROS, you can open
+    `RViz on your browser <http://localhost:8080/vnc.html?resize=scale&autoconnect=true>`_.
+
 Collision meshes
 ================
 

docs/examples/03_backends_ros/files/03_append_collision_meshes.py

@@ -14,12 +14,13 @@
     scene = PlanningScene(robot)
 
     brick = Box.from_width_height_depth(0.11, 0.07, 0.25)
-    mesh = Mesh.from_vertices_and_faces(brick.vertices, brick.faces)
-    cm = CollisionMesh(mesh, 'brick')
-    cm.frame.point.y += 0.3
 
     for i in range(5):
-        cm.frame.point.z += brick.zsize
+        mesh = Mesh.from_vertices_and_faces(brick.vertices, brick.faces)
+        cm = CollisionMesh(mesh, 'brick')
+        cm.frame.point.y += 0.5
+        cm.frame.point.z += brick.zsize * i
+
         scene.append_collision_mesh(cm)
 
     # sleep a bit before terminating the client