novaphy.UrdfCollision¶
URDF <collision> element. Pairs a frame with a UrdfGeometry
plus the contact-material parameters that the scene builder copies onto the
generated CollisionShape.
Attributes¶
| Attribute | Description |
|---|---|
name |
Optional <collision name="..."> value. |
origin |
Transform of the collision frame relative to the parent link. |
geometry |
UrdfGeometry describing the shape (box / sphere / cylinder / mesh). |
friction |
Coulomb friction coefficient transferred to CollisionShape.friction. |
has_friction2 |
Whether a second friction coefficient was authored. |
friction2 |
Optional second friction coefficient from source metadata. |
restitution |
Restitution coefficient transferred to CollisionShape.restitution. |
has_contact_stiffness, has_contact_damping |
Whether the corresponding contact parameter was authored. |
contact_stiffness, contact_damping |
Optional contact stiffness and damping values. |
Example¶
import novaphy
col = novaphy.UrdfCollision()
col.origin = novaphy.Transform()
col.geometry = novaphy.UrdfGeometry()
col.geometry.type = novaphy.UrdfGeometryType.Box
col.geometry.size = (0.1, 0.1, 0.1)
col.friction = 0.6
col.restitution = 0.0