RobotModel.get_link_collision_meshes_joined
- RobotModel.get_link_collision_meshes_joined(link, weld=False, weld_precision=None)[source]
Get the collision meshes of a Link joined into a single mesh.
The origin of the visual meshes are transformed according to the element.origin of the Visual nodes. This means that the returned mesh will match with the link’s origin frame.
- Parameters:
- link
Link The link to extract the collision meshes from.
- weldbool, optional
If True, weld close vertices after joining. Defaults to False.
- weld_precisionint, optional
The precision used for welding the mesh. Default is
TOL.precision.
- link
- Returns:
Mesh| NoneA single mesh representing the collision meshes of the link. None if no collision meshes are found.
Notes
Only MeshDescriptor in element.geometry.shape is supported. Other shapes are ignored.