curobo.cuda_robot_model.urdf_kinematics_parser module

class curobo.cuda_robot_model.urdf_kinematics_parser.UrdfKinematicsParser(urdf_path, load_meshes=False, mesh_root='', extra_links=None)

Bases: KinematicsParser

Parameters:
  • load_meshes (bool) –

  • mesh_root (str) –

  • extra_links (Dict[str, LinkParams] | None) –

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)
Parameters:

link_name (str) –

Return type:

LinkParams

Parameters:

mesh_dir (str) –

get_urdf_string()