Geometry¶

class urdfpy.Geometry(box=None, cylinder=None, sphere=None, mesh=None)[source]¶

A wrapper for all geometry types.

Only one of the following values can be set, all others should be set to None.

Parameters:	box (`Box`, optional) – Box geometry. cylinder (`Cylinder`) – Cylindrical geometry. sphere (`Sphere`) – Spherical geometry. mesh (`Mesh`) – Mesh geometry.

Attributes Summary

`box`	Box geometry.
`cylinder`	Cylinder geometry.
`geometry`	`Box`, `Cylinder`, `Sphere`, or `Mesh` : The valid geometry element.
`mesh`	Mesh geometry.
`meshes`	The geometry’s triangular mesh representation(s).
`sphere`	Spherical geometry.

Attributes Documentation

box¶

Box geometry.

Type:	`Box`

cylinder¶

Cylinder geometry.

Type:	`Cylinder`

geometry¶: Box, Cylinder, Sphere, or Mesh : The valid geometry element.

mesh¶

Mesh geometry.

Type:	`Mesh`

meshes¶

The geometry’s triangular mesh representation(s).

Type:	list of `Trimesh`

sphere¶

Spherical geometry.

Type:	`Sphere`