novaphy.UrdfLink¶
URDF <link> description. Bundles inertial properties with the visual /
collision elements attached to a single link in a URDF tree.
Attributes¶
| Attribute | Description |
|---|---|
name |
Link name (matches the name attribute of <link> in URDF XML). |
inertial |
UrdfInertial block. Default-constructed when absent. |
visuals |
List of UrdfVisual entries. May be empty. |
collisions |
List of UrdfCollision entries. May be empty. |
Example¶
import novaphy
link = novaphy.UrdfLink()
link.name = "base_link"
link.inertial.mass = 2.0
print(len(link.visuals), "visuals,", len(link.collisions), "collisions")