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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.