ToolModel.add_link

ToolModel.add_link(name, visual_meshes=None, visual_color=None, collision_meshes=None, **kwargs)[source]

Adds a link to the robot model.

Provides an easy way to programmatically add a link to the robot model.

Parameters

• name (str) – The name of the link

• visual_meshes (list of compas.datastructures.Mesh or compas.geometry.Shape, optional) – The link’s visual mesh.

• visual_color (list of 3 float, optional) – The rgb color of the mesh. Defaults to (0.8, 0.8, 0.8)

• collision_meshes (list of compas.datastructures.Mesh or compas.geometry.Shape, optional) – The link’s collision mesh.

Returns

Link – The created Link

Raises

ValueError – If the link name is already used in the chain.

Examples

>>> from compas.datastructures import Mesh
>>> from compas.geometry import Sphere
>>> sphere = Sphere((0, 0, 0), 1)
>>> mesh = Mesh.from_shape(sphere)
>>> robot = RobotModel('robot')
>>> link = robot.add_link('link0', visual_mesh=mesh)