Collision¶

class urdfpy.Collision(name, origin, geometry)[source]¶

Collision properties of a link.

Parameters:	geometry (`Geometry`) – The geometry of the element name (str, optional) – The name of the collision geometry. origin ((4,4) float, optional) – The pose of the collision element relative to the link frame. Defaults to identity.

Attributes Summary

`geometry`	The geometry of this element.
`name`	The name of this collision element.
`origin`	The pose of this element relative to the link frame.

Attributes Documentation

geometry¶

The geometry of this element.

Type:	`Geometry`

name¶

The name of this collision element.

Type:	str

origin¶

The pose of this element relative to the link frame.

Type:	(4,4) float