Can a Scene be attached to object from another scene?

[egormkn]

Hello!

I'm trying to figure out how Scene and SceneGraph classes work. I want to use Scene to create an object group which doesn't know anything about where it will be placed, and then attach it to the object from another scene. Is it supposed to work this way?

Here is an example code:

def make_head_frame():
    head_frame = trimesh.Scene(base_frame="head_frame")

    head = trimesh.creation.icosphere(radius=3)
    left_ear = trimesh.creation.icosphere(radius=1)
    right_ear = trimesh.creation.icosphere(radius=1)
    
    head_frame.add_geometry(head, node_name="head")
    head_frame.add_geometry(left_ear, node_name="left_ear", parent_node_name="head", transform=trimesh.transformations.translation_matrix([-2, 0, 2]))
    head_frame.add_geometry(right_ear, node_name="right_ear", parent_node_name="head", transform=trimesh.transformations.translation_matrix([2, 0, 2]))

    return head_frame


def make_body_frame():
    body_frame = trimesh.Scene(base_frame="body_frame")
    
    body = trimesh.creation.box((5, 4, 10))
    body_frame.add_geometry(body, node_name="body")

    head_frame = make_head_frame()
    # parent_node_name seems to be unused here
    body_frame.add_geometry(head_frame, parent_node_name="body", transform=trimesh.transformations.translation_matrix([0, 0, 10]))
    
    body_frame.graph.show()

    return body_frame


make_body_frame().show()

Here is a transform graph I get:

Could you provide some examples on composing multiple scenes (object groups) with transforms between them?