How to create a link with multiple meshes?

[yyyysr]

In the URDF file, it's common to see that a link with multiple meshes. For example:

<link name="link_13">
		<visual name="central_support-46">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-12.obj"/>
			</geometry>
		</visual>
		<visual name="central_support-48">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-18.obj"/>
			</geometry>
		</visual>
		<visual name="leg-10">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-15.obj"/>
			</geometry>
		</visual>
		<visual name="leg-11">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-16.obj"/>
			</geometry>
		</visual>
		<visual name="leg-12">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-17.obj"/>
			</geometry>
		</visual>
		<visual name="leg-13">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-13.obj"/>
			</geometry>
		</visual>
		<visual name="leg-14">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-14.obj"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-12.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-18.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-15.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-16.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-17.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-13.obj"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="textured_objs/original-14.obj"/>
			</geometry>
		</collision>
	</link>

(derived from PartNet-Mobility dataset, asset id is 40168)

So, I wonder if there is a way to generate a link with multiple meshes by linkforge?

[arounamounchili]

Yes, LinkForge handles this automatically.

If you import a URDF with multiple visuals or collisions (like in your example), it just works and preserves all the meshes.

If you're creating a link from scratch in Blender:

1. Use either the 'Add Empty Link' or 'Create Link from Mesh' buttons in the LinkForge panel to create the link frame.
2. Parent any additional meshes to that Link's Empty object.
3. Use naming suffixes like _visual or _collision (e.g. leg1_visual) so LinkForge knows how to classify them when you export.