Module urdf

Supports extracting OPW parameters from URDF (optional)

Structs

URDFParameters

OPW parameters as extrancted from URDF file, including constraints (joint offsets are not directly defined in URDF). This structure can provide robot parameters, constraints and sign corrections, or alterntively can be converted to the robot directly.

Functions

from_urdf

Parses URDF XML content to construct OPW kinematics parameters for a robot. This function provides detailed error handling through the ParameterError type, and returns intermediate type from where both Parameters and Constraints can be taken and inspected or modified if so required.

from_urdf_file

Simplified reading from URDF file. This function assumes sorting of results by closest to previous (BY_PREV) and no joint offsets (zero offsets). URDF file is expected in the input but XACRO file may also work. Robot joints must be named joint1 to joint6 in the file (as macro prefix, underscore and non-word chars is dropped, it can also be something like ${prefix}JOINT_1). It may be more than one robot described in URDF file but they must all be identical.