curobo.cuda_robot_model.urdf_kinematics_parser module

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

build_link_parent()

Build a map of parent links to each link in the kinematic tree.

NOTE: Use this function to fill self._parent_map.

_get_joint_name( idx, )

_get_joint_limits( joint, )

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

add_absolute_path_to_link_meshes( mesh_dir: str = '', )

get_urdf_string()

get_link_mesh( link_name, )

property root_link

get_controlled_joint_names() → List[str]

_get_from_extra_links( link_name: str, ) → 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]