novaphy.UrdfImportOptions¶
Per-import options consumed by SceneBuilderEngine.build_from_urdf. Toggles control floating-base treatment, self-collision filtering, fixed-joint collapse, and the visual / inertial fallbacks used when a URDF link is under-specified.
Attributes¶
| Attribute | Description |
|---|---|
floating_base |
If True, the root link is given a 6-DOF free joint to the world. Default: True. |
enable_self_collisions |
If True, non-adjacent links in the same articulation may collide; shapes on the same surviving body and direct parent-child body pairs remain filtered. If False, all intra-articulation shape pairs are filtered. Default: True. |
collapse_fixed_joints |
Merge children of <joint type="fixed"> into the parent link, rebasing visuals / collisions / inertia. Default: False. |
use_visual_collision_fallback |
When a <link> has visuals but no <collision>, build one collision shape from the first visual's geometry (box, sphere, cylinder, or mesh). Default: False. |
ignore_inertial_definitions |
Ignore the authored COM and inertia tensor, retain the URDF link mass, divide that mass evenly among collision entries, estimate each entry's inertia from its geometry, and combine the results. Links with no usable collision geometry fall back to the authored inertial data. Default: False. |
mesh_collision_mode |
UrdfMeshCollisionMode policy for mesh collision import. Default: BoxFallback. |
use_transmission_drive_defaults |
Apply parsed transmission metadata to default joint-drive settings when building from URDF. Default: False. |
transmission_target_mode |
Target mode used when transmission drive defaults are enabled. |
transmission_target_stiffness |
Default target stiffness used when transmission drive defaults are enabled. |
transmission_target_damping |
Default target damping used when transmission drive defaults are enabled. |
root_transform |
Transform applied to the root link (positions the robot in the world). Default: identity. |
Example¶
import numpy as np
import novaphy
opts = novaphy.UrdfImportOptions()
opts.floating_base = True
opts.collapse_fixed_joints = True
opts.enable_self_collisions = False
opts.root_transform = novaphy.Transform.from_translation(
np.array([0.0, 0.0, 1.0], dtype=np.float32)
)
engine = novaphy.SceneBuilderEngine()
result = engine.build_from_urdf(parsed_urdf, opts)