RobotModel.add_link

RobotModel.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:

namestr: The name of the link
visual_mesheslist[Mesh | 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_mesheslist[Mesh], optional: The link’s collision mesh.
**kwargsdict[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(1.0)
>>> mesh = Mesh.from_shape(sphere)
>>> robot = RobotModel("robot")
>>> link = robot.add_link("link0", visual_mesh=mesh)