Visual
It describes the visual properties of the link. This element specifies the geometry, material and opacity.
Mandatory children
-
Origin: The reference frame of the visual element with respect to the reference frame of the link.
- Var: smtk_transform
- Type: Input
- Default: 0 0 0 0 0 0 1
- Values info: x y z qx qy qz qw
-
Geometry: Defines the shape of the visual object.
-
Opacity: Value in the range of [0.0, 1.0] indicating how transparent the material is. A value of 0.0 indicates fully transparent, 1.0 is fully opaque.
- Var: smtk_coefficient
- Type: Input
- Default: 1
-
User_action: Geometry selected by the user to perform an action, true while the user action is active.
- Var: smtk_bool
- Type: Output
- Default: false
Optional children
- Material: The material of the visual element.