:autogenerated:

simulation.utils.urdf package
=============================

.. automodule:: simulation.utils.urdf
    


    Submodules:

    .. toctree::
       :maxdepth: 1

       simulation.utils.urdf.camera
       simulation.utils.urdf.core
       simulation.utils.urdf.gazebo
       simulation.utils.urdf.joint
       simulation.utils.urdf.link



    Summary
    -------

    ``__all__`` Classes:


    .. list-table::
    
       * - :class:`Attribute <simulation.utils.urdf.core.Attribute>`
         - Basic class that will be converted into a xml attribute.
       * - :class:`Axis <simulation.utils.urdf.core.Axis>`
         - Axis(xyz: simulation.utils.urdf.core.Attribute = <factory>)
       * - :class:`Box <simulation.utils.urdf.link.Box>`
         - Box(size: simulation.utils.urdf.core.Attribute)
       * - :class:`CameraClip <simulation.utils.urdf.camera.CameraClip>`
         - CameraClip(near: float, far: float)
       * - :class:`CameraDefinition <simulation.utils.urdf.camera.CameraDefinition>`
         - CameraDefinition(horizontal_fov: float, image: simulation.utils.urdf.camera.CameraImage, clip: simulation.utils.urdf.camera.CameraClip = None)
       * - :class:`CameraImage <simulation.utils.urdf.camera.CameraImage>`
         - CameraImage(width: int, height: int, format: str)
       * - :class:`CameraPlugin <simulation.utils.urdf.camera.CameraPlugin>`
         - CameraPlugin(name: simulation.utils.urdf.core.Attribute, filename: simulation.utils.urdf.core.Attribute, alwaysOn: float = 1, updateRate: float = 0, frameName: str = None, cameraName: str = None, CxPrime: float = None, Cx: float = None, Cy: float = None)
       * - :class:`CameraProperties <simulation.utils.urdf.camera.CameraProperties>`
         - CameraProperties(horizontal_fov: float, update_rate: float, image_width: float, image_height: float, image_format: float, clip_near: float, clip_far: float, image_topic: str, info_topic: str, frame_name: str, optical_center_x: float = None, optical_center_y: float = None)
       * - :class:`CameraSensor <simulation.utils.urdf.camera.CameraSensor>`
         - CameraSensor(name: simulation.utils.urdf.core.Attribute, type: simulation.utils.urdf.core.Attribute, plugin: simulation.utils.urdf.camera.CameraPlugin, update_rate: float, camera: simulation.utils.urdf.camera.CameraDefinition)
       * - :class:`Child <simulation.utils.urdf.joint.Child>`
         - Child(link: simulation.utils.urdf.core.Attribute)
       * - :class:`Collision <simulation.utils.urdf.link.Collision>`
         - Collision(origin: simulation.utils.urdf.core.Origin = None, geometry: simulation.utils.urdf.link.Geometry = None)
       * - :class:`Color <simulation.utils.urdf.link.Color>`
         - Color(xyz: simulation.utils.urdf.core.Attribute = <factory>)
       * - :class:`Cylinder <simulation.utils.urdf.link.Cylinder>`
         - Cylinder(radius: simulation.utils.urdf.core.Attribute, length: simulation.utils.urdf.core.Attribute)
       * - :class:`DepthCamera <simulation.utils.urdf.camera.DepthCamera>`
         - DepthCamera(name: str, origin: simulation.utils.urdf.core.Origin, size: simulation.utils.geometry.vector.Vector, mass: float, properties: simulation.utils.urdf.camera.DepthCameraProperties, chassis_link: simulation.utils.urdf.link.Link)
       * - :class:`DepthCameraPlugin <simulation.utils.urdf.camera.DepthCameraPlugin>`
         - DepthCameraPlugin(name: simulation.utils.urdf.core.Attribute = 'camera_plugin', filename: simulation.utils.urdf.core.Attribute = 'libgazebo_ros_openni_kinect.so', alwaysOn: float = 1, updateRate: float = 0, frameName: str = None, cameraName: str = None, CxPrime: float = None, Cx: float = None, Cy: float = None, depthImageTopicName: str = None, depthImageCameraInfoTopicName: str = None, pointCloudTopicName: str = None, pointCloudCutoff: float = None)
       * - :class:`DepthCameraProperties <simulation.utils.urdf.camera.DepthCameraProperties>`
         - DepthCameraProperties(horizontal_fov: float, update_rate: float, image_width: float, image_height: float, image_format: float, clip_near: float, clip_far: float, image_topic: str, info_topic: str, frame_name: str, optical_center_x: float = None, optical_center_y: float = None, point_cloud_cutoff: float = None, point_cloud_topic_name: str = None)
       * - :class:`Gazebo <simulation.utils.urdf.gazebo.Gazebo>`
         - Gazebo(inner: simulation.utils.urdf.core.XmlObject, reference: simulation.utils.urdf.core.Attribute = None)
       * - :class:`Geometry <simulation.utils.urdf.link.Geometry>`
         - Geometry(value: simulation.utils.urdf.core.XmlObject)
       * - :class:`Inertia <simulation.utils.urdf.link.Inertia>`
         - 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 <simulation.utils.urdf.link.Inertial>`
         - Inertial(mass: float, inertia: simulation.utils.urdf.link.Inertia, origin: simulation.utils.urdf.core.Origin = None)
       * - :class:`Joint <simulation.utils.urdf.joint.Joint>`
         - Joint(name: simulation.utils.urdf.core.Attribute, parent: simulation.utils.urdf.joint.Parent, child: simulation.utils.urdf.joint.Child, type: simulation.utils.urdf.core.Attribute = 'fixed', axis: simulation.utils.geometry.vector.Vector = None, limit: simulation.utils.urdf.joint.JointLimit = None, dynamics: simulation.utils.urdf.joint.JointDynamics = None, origin: simulation.utils.urdf.core.Origin = None)
       * - :class:`JointDynamics <simulation.utils.urdf.joint.JointDynamics>`
         - JointDynamics(damping: simulation.utils.urdf.core.Attribute = None, friction: simulation.utils.urdf.core.Attribute = None)
       * - :class:`JointLimit <simulation.utils.urdf.joint.JointLimit>`
         - JointLimit(effort: simulation.utils.urdf.core.Attribute = None, lower: simulation.utils.urdf.core.Attribute = None, upper: simulation.utils.urdf.core.Attribute = None, velocity: simulation.utils.urdf.core.Attribute = None)
       * - :class:`Link <simulation.utils.urdf.link.Link>`
         - Link(name: simulation.utils.urdf.core.Attribute, collision: simulation.utils.urdf.link.Collision = None, visual: simulation.utils.urdf.link.Collision = None, inertial: simulation.utils.urdf.link.Inertial = None)
       * - :class:`Material <simulation.utils.urdf.link.Material>`
         - Material(name: simulation.utils.urdf.core.Attribute = None, color: simulation.utils.geometry.vector.Vector = None, texture: str = None)
       * - :class:`Mesh <simulation.utils.urdf.link.Mesh>`
         - Mesh(filename: simulation.utils.urdf.core.Attribute, scale: simulation.utils.geometry.vector.Vector = None)
       * - :class:`MonoCamera <simulation.utils.urdf.camera.MonoCamera>`
         - MonoCamera(name: str, origin: simulation.utils.urdf.core.Origin, size: simulation.utils.geometry.vector.Vector, mass: float, properties: simulation.utils.urdf.camera.CameraProperties, chassis_link: simulation.utils.urdf.link.Link)
       * - :class:`Origin <simulation.utils.urdf.core.Origin>`
         - Origin(xyz: simulation.utils.urdf.core.Attribute = <factory>, rpy: simulation.utils.urdf.core.Attribute = <factory>)
       * - :class:`Parent <simulation.utils.urdf.joint.Parent>`
         - Parent(link: simulation.utils.urdf.core.Attribute)
       * - :class:`Plugin <simulation.utils.urdf.gazebo.Plugin>`
         - Plugin(name: simulation.utils.urdf.core.Attribute, filename: simulation.utils.urdf.core.Attribute)
       * - :class:`Sensor <simulation.utils.urdf.gazebo.Sensor>`
         - Sensor(name: simulation.utils.urdf.core.Attribute, type: simulation.utils.urdf.core.Attribute)
       * - :class:`Sphere <simulation.utils.urdf.link.Sphere>`
         - Sphere(radius: simulation.utils.urdf.core.Attribute)
       * - :class:`Visual <simulation.utils.urdf.link.Visual>`
         - Visual(origin: Tuple = None, geometry: simulation.utils.urdf.link.Geometry = None, material: simulation.utils.urdf.link.Material = None)
       * - :class:`XmlObject <simulation.utils.urdf.core.XmlObject>`
         - Base class for all urdf xml objects.