Box

A 6-sided cuboid that captures colliders that have cuboid properties.

Parameter	Type	Description
type	string	The Box shape class
name	string	A user-defined name of the shape
frame	string	The coordinateshe frame this shape belongs to. Can either be world or robot frame
physical	boolean	True if the collision with this shape is phyiscal, else false
x	float	The length of x dimension
y	float	The length of y dimension
z	float	The length of z dimension
localTransform	isometry consisted of translation and rotation	Defines the position and rotation of the shape relevant to the specific frame

Javascript

let shape = {
  type:'Box',
  name:'camera attachment',
  frame: 'panda_hand',
  physical: true,
  x:0.5,y:0.5,z:0.2,
  localTransform: {translation:[0.0,0.0,0.0],rotation:[0.0,0.0,0.0,1.0]} // [x, y, z, w] ordering for quaternion
  }

Python

shape = BoxShape(
  name="camera attachment",
  frame='panda_hand',
  physical=True,
  x=0.5,y=0.5,z=0.2,
  local_transform=Transform.identity())

Rust

let transform = Isometry3::from_parts(
         Translation3::new(
             0.0,
             0.0,
             0.0,
         ),
         UnitQuaternion::from_quaternion(Quaternion::new(
             0.0,
             0.0,
             -0.7069999677447771,
             0.7072135784958345,
         )),
     );
let box = Shape::Box(BoxShape::new(
         "box".to_string(),
         "world".to_string(),
         true,
         0.5,
         0.5,
         0.2,
         transform,
     ));