novaphy.UrdfMeshCollisionMode¶
Controls how URDF mesh collision geometry is imported when building a scene.
Values¶
| Value | Description |
|---|---|
BoxFallback |
Replace every mesh collision with a box whose half extents are abs(mesh_scale) * 0.5. The mesh vertices are not loaded, so this is not guaranteed to bound the authored mesh. |
TriangleMesh |
Import the mesh as a triangle collision mesh when supported. |
ConvexHull |
Import the mesh through a convex-hull approximation when supported. |
Skip |
Omit every mesh collision, regardless of whether the mesh file is available. |
Error |
Fail scene build whenever a mesh collision is encountered. This is a strict policy, not a fallback used only for missing files. |