pytransform3d.urdf.parse_urdf

pytransform3d.urdf.parse_urdf(urdf_xml, mesh_path=None, package_dir=None, strict_check=True)[source]

Parse information from URDF file.

Parameters
urdf_xmlstr

Robot definition in URDF

mesh_pathstr, optional (default: None)

Path in which we search for meshes that are defined in the URDF. Meshes will be ignored if it is set to None and no ‘package_dir’ is given.

package_dirstr, optional (default: None)

Some URDFs start file names with ‘package://’ to refer to the ROS package in which these files (textures, meshes) are located. This variable defines to which path this prefix will be resolved.

strict_checkbool, optional (default: True)

Raise a ValueError if the transformation matrix is not numerically close enough to a real transformation matrix. Otherwise we print a warning.

Returns
robot_namestr

Name of the robot

linkslist of Link

Links of the robot

jointslist of Joint

Joints of the robot

Raises
UrdfException

If URDF is not valid

Examples using pytransform3d.urdf.parse_urdf