novaphy.SceneShapeMetadata¶
Per-shape metadata recovered during scene build. Lets you walk every collision shape in the finalized Model and recover the URDF link / source asset it came from — useful for sensor wiring, visualisation overlays, and exporters.
Attributes¶
| Attribute | Description |
|---|---|
shape_index |
Shape index in the finalized Model. |
body_index |
Body the shape is attached to. -1 for static / world-attached shapes. |
articulation_index |
Articulation the owning body belongs to. |
urdf_link_index |
Index of the URDF link the shape was derived from (if the source was URDF). |
link_name |
Original URDF / USD link name. |
body_link_name |
Surviving body name after fixed-joint collapse. |
geometry_type |
Geometry type token ("box", "sphere", "cylinder", "mesh", ...). |
source |
Source asset path (URDF / USD file path or referenced mesh). Empty for procedurally generated shapes. |
Example¶
import novaphy
result = novaphy.SceneBuilderEngine().build_from_urdf(data)
for s in result.metadata.shapes:
print(f"shape {s.shape_index} on {s.link_name} ({s.geometry_type}) "
f"from {s.source}")