simulation.utils.urdf.link module¶

Class definitions making up the <link>.

Example

A simple link with the shape of a rectangular box can be defined as follows:

>>> from simulation.utils.geometry import Vector
>>> from simulation.utils.urdf import Geometry, Box, Material, Link, Collision, Visual
>>> box = Geometry(Box(Vector(2, 2, 2)))
>>> material = Material("mat", color=Vector(1, 1, 1))
>>> link = Link(
...     "link",
...     collision=Collision(geometry=box),
...     visual=Visual(geometry=box, material=material),
... )
>>> link.use_inertial_from_collision(mass=1.0)
...  # Calculate inertial tensor from simulation.utils.geometry and mass

Summary¶

Classes:

`Box`
`Collision`
`Color`
`Cylinder`
`Geometry`
`Inertia`
`Inertial`
`Link`
`Material`
`Mesh`
`Sphere`
`Visual`

Reference¶

_origin_default_list()[source]¶

class Color(xyz: simulation.utils.urdf.core.Attribute = <factory>)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

TAG = 'color'¶

xyz: simulation.utils.urdf.core.Attribute¶

class Inertia(ixx: simulation.utils.urdf.core.Attribute = 0, ixy: simulation.utils.urdf.core.Attribute = 0, ixz: simulation.utils.urdf.core.Attribute = 0, iyx: simulation.utils.urdf.core.Attribute = 0, iyy: simulation.utils.urdf.core.Attribute = 0, iyz: simulation.utils.urdf.core.Attribute = 0, izx: simulation.utils.urdf.core.Attribute = 0, izy: simulation.utils.urdf.core.Attribute = 0, izz: simulation.utils.urdf.core.Attribute = 0)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

TAG = 'inertia'¶

ixx: simulation.utils.urdf.core.Attribute = 0¶

ixy: simulation.utils.urdf.core.Attribute = 0¶

ixz: simulation.utils.urdf.core.Attribute = 0¶

iyx: simulation.utils.urdf.core.Attribute = 0¶

iyy: simulation.utils.urdf.core.Attribute = 0¶

iyz: simulation.utils.urdf.core.Attribute = 0¶

izx: simulation.utils.urdf.core.Attribute = 0¶

izy: simulation.utils.urdf.core.Attribute = 0¶

izz: simulation.utils.urdf.core.Attribute = 0¶

class Inertial(mass: float, inertia: simulation.utils.urdf.link.Inertia, origin: simulation.utils.urdf.core.Origin = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

TAG = 'inertial'¶

mass: float¶

inertia: simulation.utils.urdf.link.Inertia¶

origin: simulation.utils.urdf.core.Origin = None¶

create_xml(root_el=None)[source]¶

Convert this instance into a xml element.

If the class of this instance does not define a tag, new xml elements from this instance are appended to the root_el. Otherwise, a sub element is created and returned.
Additionally to all instance attributes, a dictionary parameters can be used to define sub elements.
A Attribute type annotation for any of the object`s attributes, will result in a xml attribute.