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 ([float, float, float], optional) – The rgb color of the mesh. Defaults to (0.8, 0.8, 0.8)
collision_meshes (list[compas.datastructures.Mesh], optional) – The link’s collision mesh.
**kwargs (dict[str, Any], optional) – The keyword arguments (kwargs) collected in a dict. These allow using non-standard attributes absent in the URDF specification.

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)

ToolModel.add_link

COMPAS