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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=0.5,
    ke=1.0e5,
    kd=1.0e3,
    kf=1.0e3,
    ka=0.0,
    mu_torsional=0.0,
    mu_rolling=0.0,
    kh=1.0,
    margin=0.0,
    gap=0.0,
    is_solid=True,
    collision_group=1,
    collision_filter_parent=False,
    has_shape_collision=True,
    has_particle_collision=True,
    is_visible=True,
    is_site=False,
    is_hydroelastic=False,
    is_static=False,
)

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 Mark the shape as a non-colliding reference site.
is_hydroelastic Request hydroelastic collision metadata.
is_static Skip deferred mass inference for this attached shape.

See Also