Merge pull request #239 from compas-dev/fix-tool-acm

Fix bug in add_attached_tool

Author: gonzalocasas

CHANGELOG.rst

@@ -16,6 +16,8 @@ Unreleased
 
 **Fixed**
 
+* Fixed bug in ``add_attached_tool`` of ``PlanningScene``
+
 **Deprecated**
 
 **Removed**

src/compas_fab/robots/planning_scene.py

@@ -366,7 +366,8 @@ def add_attached_tool(self):
         """Add the robot's attached tool to the planning scene if tool is set."""
         self.ensure_client()
         if self.robot.attached_tool:
-            self.add_attached_collision_mesh(self.robot.attached_tool.attached_collision_mesh)
+            for acm in self.robot.attached_tool.attached_collision_meshes:
+                self.add_attached_collision_mesh(acm)
 
     def remove_attached_tool(self):
         """Remove the robot's attached tool from the planning scene."""