diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3ee5cac..e50f6f3 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,8 @@
 # Changelog
 
+## Version 0.0.45 (development)
+- Upgrade to trimesh version 3.11.2
+
 ## Version 0.0.44 (development)
 - Parse and write `name` attribute of `material` element 
 - Apply colors to mesh if available
diff --git a/docs/requirements.txt b/docs/requirements.txt
index 88dfa79..e3049ae 100644
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -6,5 +6,5 @@ sphinx>=3.2.1
 sphinx_rtd_theme
 sphinx-automodapi
 lxml
-trimesh>=3.9.35
+trimesh>=3.11.2
 numpy
\ No newline at end of file
diff --git a/setup.cfg b/setup.cfg
index 403f8df..1c04295 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -56,7 +56,7 @@ python_requires = >=3.7
 install_requires =
     importlib-metadata; python_version<"3.8"
     lxml
-    trimesh>=3.9.35
+    trimesh>=3.11.2
     numpy
     six
 
diff --git a/src/yourdfpy/urdf.py b/src/yourdfpy/urdf.py
index b67cbd8..bd354ca 100644
--- a/src/yourdfpy/urdf.py
+++ b/src/yourdfpy/urdf.py
@@ -1125,7 +1125,11 @@ def _create_scene(
             s.graph.update(frame_from=j.parent, frame_to=j.child, matrix=matrix)
 
         for l in self.robot.links:
-            s.graph.nodes.add(l.name)
+            if l.name not in s.graph.nodes:
+                _logger.warn(
+                    "{l.name} not connected via joints. Will add link to base frame."
+                )
+                s.graph.update(frame_from=s.graph.base_frame, frame_to=l.name)
 
             meshes = l.collisions if use_collision_geometry else l.visuals
             self._add_geometries_to_scene(
diff --git a/tests/test_urdf.py b/tests/test_urdf.py
index 32820ad..a7f03ca 100644
--- a/tests/test_urdf.py
+++ b/tests/test_urdf.py
@@ -17,13 +17,6 @@ def _create_robot():
     return r
 
 
-def test_trimesh_version():
-    import trimesh
-
-    print(trimesh.__version__)
-    assert trimesh.__version == "asdf"
-
-
 def test_robot():
     r = _create_robot()
     assert r.name == "test_robot"