Current robot state as CAD file / pointcloud

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Hey all

I need to get the current state of the robot, including spatial description, as a CAD file or a pointcloud for further processing. Specifically, I need to get the complete 3D description of the complete URDF model, in the current state/joint configuration, in a format that PCL can use.

I am not really sure how to do this, but I can see a partial solution, and would appreciate your feedback.

1. Load the URDF
2. Use geometric_shapes to parse all links into bodies
3. Do raytracing on all bodies to get a set of points for each body
4. Collect the points for each body into one point cloud or CAD file.

The question is how to merge this into one output in 4.? Or if there's an easier/more efficient solution that I've missed?

Thanks.