rofunc.utils.robolab.formatter.urdf

1.  Module Contents

1.1.  Functions

build_chain_from_urdf	Build a Chain object from URDF data.
build_serial_chain_from_urdf	Build a SerialChain object from urdf data.

1.2.  Data

JOINT_TYPE_MAP

1.3.  API

rofunc.utils.robolab.formatter.urdf.JOINT_TYPE_MAP = None

rofunc.utils.robolab.formatter.urdf.build_chain_from_urdf(data)

Build a Chain object from URDF data.

datastr

URDF string data.

chain.Chain

Chain object created from URDF.

>>> import pytorch_kinematics as pk
>>> data = '''<robot name="test_robot">
... <link name="link1" />
... <link name="link2" />
... <joint name="joint1" type="revolute">
...   <parent link="link1"/>
...   <child link="link2"/>
... </joint>
... </robot>'''
>>> chain = pk.build_chain_from_urdf(data)
>>> print(chain)
link1_frame
    link2_frame

rofunc.utils.robolab.formatter.urdf.build_serial_chain_from_urdf(data, end_link_name, root_link_name='')

Build a SerialChain object from urdf data.

datastr

URDF string data.

end_link_namestr

The name of the link that is the end effector.

root_link_namestr, optional

The name of the root link.

chain.SerialChain

SerialChain object created from URDF.