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novaphy.ShapeConfig

Material, contact, collision-filter, and visibility parameters consumed by the deferred ModelBuilder.add_shape_* pipeline.

Constructor

novaphy.ShapeConfig(
    density=1000.0,
    mu=0.5,
    restitution=0.0,
    ke=2.5e3,
    kd=100.0,
    kf=1.0e3,
    ka=0.0,
    mu_torsional=0.005,
    mu_rolling=0.0001,
    kh=1.0e10,
    margin=0.0,
    gap=None,
    is_solid=True,
    collision_group=1,
    collision_filter_parent=True,
    has_shape_collision=True,
    has_particle_collision=True,
    is_visible=True,
    is_site=False,
    sdf_narrow_band_range=(-0.1, 0.1),
    sdf_target_voxel_size=None,
    sdf_max_resolution=None,
    sdf_texture_format="uint16",
    sdf_padding=None,
    is_hydroelastic=False,
    is_static=False,
    color=None,
)

Attributes

Attribute Description
density Material density [kg / m^3], used for mass/inertia inference.
mu, restitution Coulomb friction and restitution coefficients.
ke, kd, kf, ka, kh Contact stiffness / damping material parameters.
mu_torsional, mu_rolling Optional torsional / rolling friction coefficients.
margin, gap Contact margin and detection gap [m].
is_solid Whether the shape is treated as solid.
collision_group Collision group. 0 disables shape collision.
collision_filter_parent Filter against the parent body/link when applicable.
has_shape_collision Whether the shape participates in shape-vs-shape contacts.
has_particle_collision Whether the shape participates in particle-vs-shape contacts.
is_visible Viewer visibility flag.
is_site Set the independent SITE metadata flag. This alone does not clear collision flags; use mark_as_site() for a non-colliding site configuration.
color Optional RGB display color in [0, 1].
sdf_narrow_band_range Two-value SDF narrow-band range.
sdf_target_voxel_size Optional target voxel size for generated primitive SDFs.
sdf_max_resolution Optional maximum SDF voxel resolution.
sdf_texture_format SDF texture format tag; default "uint16".
sdf_padding Optional SDF AABB padding; falls back to gap when unset.
is_hydroelastic Request hydroelastic collision metadata.
is_static Skip deferred mass inference for this attached shape.
flags Combined ShapeFlags view; writable.

Methods

Method Description
configure_sdf(...) Configure one of max_resolution or target_voxel_size, plus hydroelastic/texture options.
mark_as_site() Disable collisions and density, then mark this configuration as a site.
copy() Return an independent copy.

See Also