In create_link_from_mesh, the mesh pose within the link is offset, such that the mesh centroid is aligned with the link frame (here and here).
For my use-case I just wanted to use the mesh coordinates as they were defined in the stl file, and it took me some time to figure out where this extra offset was coming from.
So the feature request:
Some sort of flag in create_link_from_mesh like offset_mesh_by_centroid=True, which can be set False to disable this behaviour.
Hello, a small feature request;
In
create_link_from_mesh, the mesh pose within the link is offset, such that the mesh centroid is aligned with the link frame (here and here).For my use-case I just wanted to use the mesh coordinates as they were defined in the stl file, and it took me some time to figure out where this extra offset was coming from.
So the feature request: Some sort of flag in
create_link_from_meshlikeoffset_mesh_by_centroid=True, which can be setFalseto disable this behaviour.