novaphy.UrdfModelData

Result of UrdfParser.parse_file. Plain-old data holder for the parsed URDF tree, intended to be fed into SceneBuilderEngine.build_from_urdf.

Attributes

Attribute	Description
name	Robot name (the name attribute of <robot>).
has_unsupported_xacro	Whether the parser encountered xacro constructs outside NovaPhy's lightweight expansion support.
materials	Robot-level named UrdfMaterial entries. Inline visual materials remain on each UrdfVisual.material and are not appended here.
links	List of UrdfLink entries (parse order).
joints	List of UrdfJoint entries (parse order).
transmissions	List of UrdfTransmission entries.
gazebo_extensions	List of UrdfGazeboExtension entries.

Example

import novaphy

parser = novaphy.UrdfParser()
data = parser.parse_file("robot.urdf")

print(data.name, "with", len(data.links), "links and",
      len(data.joints), "joints")

Notes

• UrdfModelData is the edit point if you need to mutate the parsed tree before scene-build (e.g. drop a sensor link, override a mass).
• The fixed-joint collapse and floating-base options live on UrdfImportOptions, not on this struct; pass the options through to SceneBuilderEngine.build_from_urdf.

See Also

• UrdfParser
• SceneBuilderEngine
• UrdfImportOptions
• UrdfAssetAuditReport