This class is autogenerated. More detailed documentation can be found in the SDFormat spec.

class v15.collision.Collision(laser_retro=0.0, max_contacts=10, frame=<factory>, pose=None, geometry=None, surface=None, name=None)

The collision properties of a link.

Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time.

laser_retro: intensity value returned by laser sensor.
max_contacts: Maximum number of contacts allowed between two

entities. This value overrides the max_contacts element defined in physics.

frame: A frame of reference to which a pose is relative.
pose: A position(x,y,z) and orientation(roll, pitch yaw) with

respect to the specified frame.

geometry: The shape of the visual or collision object.
surface: The surface parameters
name: Unique name for the collision element within the scope of the

parent link.

Nested Elements

Note that only complex elements are listed here. Elements that resolve to simple types (int, str, bool) are inlined.

v15.collision.Collision.Frame([pose, name])

A frame of reference to which a pose is relative.

v15.collision.Collision.Pose([value, frame])


v15.collision.Collision.Surface([bounce, ...])

The surface parameters.