novaphy.UrdfGazeboExtension¶
Parsed Gazebo extension metadata from URDF files. These fields preserve common contact, friction, material, and self-collision hints for audit and scene-build pipelines.
Attributes¶
| Attribute | Description |
|---|---|
reference |
Link or joint referenced by the Gazebo block. |
material |
Gazebo material string, if present. |
has_mu1, has_mu2 |
Whether friction coefficients were specified. |
has_kp, has_kd |
Whether contact stiffness / damping were specified. |
has_max_vel, has_min_depth |
Whether contact velocity / penetration hints were specified. |
has_self_collide |
Whether self_collide was specified. |
mu1, mu2 |
Parsed friction coefficients. |
kp, kd |
Parsed contact stiffness / damping. |
max_vel, min_depth |
Parsed Gazebo contact parameters. |
self_collide |
Parsed self-collision hint. |