How can I add a link programmatically to a model?

asked 2021-07-14 06:17:04 -0500

SneakPete gravatar image

Hello everyone,

I want to add and delete a link dynamically to/from my model. This link should be a polyline and the coordinates of the vertices will change with runtime. How can I get this link dynamically added to my model by a model plugin? I can add the link tag (below) to my model but can I change this dynamically? Thanks for any help.

   <link>
   <inertial>    
      <pose>0 0 0 0 0 0 </pose>    
        <mass>0.00000000000001</mass>  
        <inertia>    
          <ixx>1</ixx>    
          <ixy>0</ixy>  
          <ixz>0</ixz>  
          <iyy>1</iyy>  
          <iyz>0</iyz>  
          <izz>1</izz>  
        </inertia>  
      </inertial>  
    <collision name='col''>  
      <pose> 0 0 0 0 0 0 </pose>    
      <geometry>    
        <polyline>    
          <point> 1 1 </point>  
          <point> 1 -1 </point>  
          <point> -1 -1 </point>  
          <point> -1 1 </point>  
          <height>0</height>  
        </polyline>    
      </geometry>    
    </collision>    
    <visual name='vis'>  
      <pose> 0 0 0 0 0 0 </pose>  
      <geometry>  
          <polyline>  
          <point> 1 1 </point>  
          <point> 1 -1 </point>  
          <point> -1 -1 </point> 
          <point> -1 1 </point>
          <height>0</height>  
        </polyline>  
      </geometry>  
    </visual>  
  </link>
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