curobo.cuda_robot_model.urdf_kinematics_parser module¶

Parses Kinematics from an URDF file that describes the kinematic tree of a robot.

class UrdfKinematicsParser( urdf_path, load_meshes: bool = False, mesh_root: str = '', extra_links: Dict[str, LinkParams] | None = None, build_scene_graph: bool = False, )¶

Bases: KinematicsParser

Parses Kinematics from an URDF file and provides access to the kinematic tree.

Initialize instance with URDF file path.

Parameters:

urdf_path – Path to the URDF file.
load_meshes – Load meshes for links from the URDF file.
mesh_root – Absolute path to the directory where link meshes are stored.
extra_links – Extra links to add to the kinematic tree.
build_scene_graph – Build scene graph for the robot. Set this to True if you want to determine the root link of the robot.

build_link_parent()¶: Build parent map for the robot.

_get_joint_name( idx, ) → str¶

Get the name of the joint at the given index.

Parameters:: idx – Index of the joint.
Returns:: Name of the joint.
Return type:: str

_get_joint_limits( joint: Joint, ) → Tuple[Dict[str, float], str]¶

Get the limits of a joint.

This function converts continuous joints to revolute joints with limits [-6.28, 6.28].

Parameters:

joint – Instance of the joint.

Returns:

Limits of the joint and the type of the joint: (revolute or prismatic).

Return type:

Tuple[Dict[str, float], str]

get_link_parameters( link_name: str, base=False, ) → LinkParams¶

Get parameters of a link in the kinematic tree.

Parameters:

link_name – Name of the link.
base – Is this the base link of the robot?

Returns:

Parameters of the link.

Return type:

LinkParams

add_absolute_path_to_link_meshes( mesh_dir: str = '', )¶

Add absolute path to link meshes.

Parameters:: mesh_dir – Absolute path to the directory containing link meshes.

get_urdf_string() → str¶: Get the contents of URDF as a string.

get_link_mesh( link_name: str, ) → Mesh¶

Get mesh of a link.

Parameters:: link_name – Name of the link.
Returns:: Mesh of the link.
Return type:: Mesh

property root_link: str¶

Returns the name of the base link of the robot.

Only available when the URDF is loaded with build_scene_graph=True.

Returns:: Name of the base link.
Return type:: str

_get_from_extra_links( link_name: str, ) → LinkParams¶

Get link parameters for extra links.

Parameters:: link_name – Name of the link.
Returns:: Link parameters if found, else None.
Return type:: LinkParams

get_chain( base_link: str, ee_link: str, ) → List[str]¶

Get list of links attaching ee_link to base_link.

Parameters:

base_link (str) – Name of base link.
ee_link (str) – Name of end-effector link.

Returns:

List of link names starting from base_link to ee_link.

Return type:

List[str]

get_controlled_joint_names() → List[str]¶

Get names of all controlled joints in the robot.

Returns:: Names of all controlled joints in the robot.

_parent_map¶: Parent link for all link in the kinematic tree.