UrdfGeometry

Fully qualified name: isaacsim::asset::importer::urdf::UrdfGeometry

struct UrdfGeometry

Geometric shape definition for URDF visual and collision elements.

Represents various geometric primitives and mesh assets that can be used for visual rendering and collision detection. Supports boxes, cylinders, capsules, spheres, and mesh files with scaling parameters.

Public Members

UrdfGeometryType type

Type of geometric shape.

float size_x = 0.0f

Box size in x-direction.

float size_y = 0.0f

Box size in y-direction.

float size_z = 0.0f

Box size in z-direction.

float radius = 0.0f

Radius for cylindrical and spherical shapes.

float length = 0.0f

Length for cylindrical shapes.

float scale_x = 1.0f

Scale factor in x-direction for mesh geometry.

float scale_y = 1.0f

Scale factor in y-direction for mesh geometry.

float scale_z = 1.0f

Scale factor in z-direction for mesh geometry.

std::string meshFilePath

File path to mesh asset.