The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes. Unique name for the visual element within the scope of the parent link. If true the visual will cast shadows. will be implemented in the future release. The amount of transparency( 0=opaque, 1 = fully transparent) Optional meta information for the visual. The information contained within this element should be used to provide additional feedback to an end user. The layer in which this visual is displayed. The layer number is useful for programs, such as Gazebo, that put visuals in different layers for enhanced visualization.