novaphy.UrdfVisual¶
URDF <visual> element. Pairs a frame with a UrdfGeometry
plus an optional material name. Visuals are kept around for downstream
viewers / exporters. They are not used for collision unless
UrdfImportOptions.use_visual_collision_fallback=True and the link has no
explicit collision element.
Attributes¶
| Attribute | Description |
|---|---|
name |
Optional <visual name="..."> value. |
origin |
Transform of the visual frame relative to the parent link. |
geometry |
UrdfGeometry describing the visual shape. |
material_name |
Name of the URDF <material> referenced by this visual (may be empty). |
material |
Resolved UrdfMaterial payload. |
Example¶
import novaphy
vis = novaphy.UrdfVisual()
vis.origin = novaphy.Transform()
vis.geometry = novaphy.UrdfGeometry()
vis.geometry.type = novaphy.UrdfGeometryType.Mesh
vis.geometry.mesh_filename = "meshes/base_link.stl"
vis.geometry.mesh_scale = (1.0, 1.0, 1.0)
vis.material_name = "blue"