novaphy.SceneLinkMetadata¶
Per-link metadata recovered by the URDF scene-build path. Resolves the source
link name to the indices the runtime uses (body_index /
articulation_index) and records when a link was collapsed by the fixed-
joint merge pass.
Attributes¶
| Attribute | Description |
|---|---|
link_name |
Original URDF / USD link name. |
parent_link_name |
Parent link name in the source hierarchy (empty for roots). |
joint_name |
Name of the joint that connects this link to its parent (empty for roots). |
body_link_name |
Resolved name of the surviving body after fixed-joint collapse — equal to link_name when no collapse happened. |
urdf_link_index |
Original URDF link index. |
body_index |
Body index of the surviving body in the finalized Model. Collapsed links map to their parent's surviving body rather than -1. |
articulation_index |
Legacy/misnamed field currently populated with the surviving body/articulation-link ordinal; it is not necessarily a valid Model articulation ID. |
collapsed |
True when the link was merged into its parent by collapse_fixed_joints. |
Example¶
import novaphy
result = novaphy.SceneBuilderEngine().build_from_urdf(data)
for link in result.metadata.links:
if link.collapsed:
print(f"{link.link_name} merged into {link.body_link_name}")