Visuals

Visuals

The <visual> element specifies the shape of the geometry for rendering. It is a child element from <link> and a link can have multiple visual elements.

# Import the element creator
from pcg_gazebo.parsers.urdf import create_urdf_element

# The visual element is created with an empty geometry by default
visual = create_urdf_element('visual')
print(visual)

<visual name="visual">
  <origin rpy="0 0 0" xyz="0 0 0"/>
  <geometry>
    <box size="0 0 0"/>
  </geometry>
</visual>

# Setting the parameters for the visual element

visual.origin.xyz = [1, 0, 1]
visual.origin.rpy = [0.2, 0, 0.6]
print(visual)

<visual name="visual">
  <origin rpy="0.2 0 0.6" xyz="1 0 1"/>
  <geometry>
    <box size="0 0 0"/>
  </geometry>
</visual>

# Setting different geometries to the visual element
visual.geometry.box = create_urdf_element('box')
print(visual)

<visual name="visual">
  <origin rpy="0.2 0 0.6" xyz="1 0 1"/>
  <geometry>
    <box size="0 0 0"/>
  </geometry>
</visual>

visual.geometry.sphere = create_urdf_element('sphere')
print(visual)

<visual name="visual">
  <origin rpy="0.2 0 0.6" xyz="1 0 1"/>
  <geometry>
    <sphere radius="0"/>
  </geometry>
</visual>

visual.geometry.cylinder = create_urdf_element('cylinder')
print(visual)

<visual name="visual">
  <origin rpy="0.2 0 0.6" xyz="1 0 1"/>
  <geometry>
    <cylinder length="0" radius="0"/>
  </geometry>
</visual>

visual.geometry.mesh = create_urdf_element('mesh')
print(visual)

<visual name="visual">
  <origin rpy="0.2 0 0.6" xyz="1 0 1"/>
  <geometry>
    <mesh filename=""/>
  </geometry>
</visual>