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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>).
links List of UrdfLink entries (parse order).
joints List of UrdfJoint entries (parse order).

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