RobotModel.get_link_visual_meshes_joined

RobotModel.get_link_visual_meshes_joined(link, weld=False, weld_precision=None)

Get the visual 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:

linkLink

The link to extract the visual 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.

Returns:

Mesh | None

A single mesh representing the visual meshes of the link. None if no visual meshes are found.

Notes

Only MeshDescriptor in element.geometry.shape is supported. Other shapes are ignored.