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novaphy.UrdfGeometry

URDF geometry payload. Carries the geometry type plus the single set of parameters relevant to that type. Box uses size, sphere uses radius, cylinder uses radius + length, mesh uses mesh_filename (+ optional mesh_scale).

Attributes

Attribute Description
type UrdfGeometryType discriminator.
size Box dimensions (sx, sy, sz) [m] when type == Box (per URDF spec, full extents).
radius Sphere or cylinder radius [m].
length Cylinder length along its local axis [m].
mesh_filename Mesh path when type == Mesh (resolved relative to the URDF file).
mesh_scale (sx, sy, sz) mesh scale factor. Defaults to (1, 1, 1).

Example

import novaphy

g = novaphy.UrdfGeometry()
g.type = novaphy.UrdfGeometryType.Cylinder
g.radius = 0.05
g.length = 0.3

Notes

  • Only the field that matches type is read; other fields keep their default values and are ignored.
  • The pair radius / length is shared between sphere and cylinder for storage efficiency. When you set type = Sphere, only radius is read.

See Also