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