urdf#
Fully qualified name: isaacsim::asset::importer::urdf
-
namespace urdf#
Classes#
- KinematicChain
Represents the kinematic chain of a robot as a tree structure.
- UrdfImporter
URDF (Unified Robot Description Format) importer for converting robot descriptions to USD format.
Enumerations#
Functions#
- Vec3 Diagonalize(const Matrix33 &m, Quat &massFrame)
- std::string GetNewSdfPathString(pxr::UsdStageWeakPtr stage, std::string path, int nameClashNum=-1)
- bool IsUsdFile(const std::string &filename)
- pxr::SdfPath SimpleImport(pxr::UsdStageRefPtr usdStage, const std::string &path, const std::string &meshPath, std::map< pxr::TfToken, pxr::SdfPath > &meshList, std::map< pxr::TfToken, pxr::SdfPath > &materialList, const pxr::SdfPath &rootPath)
- bool addVisualMeshToCollision(UrdfRobot &robot)
- bool collapseFixedJoints(UrdfRobot &robot)
- float computeSimpleStiffness(const UrdfRobot &robot, std::string joint, float naturalFrequency)
- bool findRootLink(const std::map< std::string, UrdfLink > &urdfLinks, const std::map< std::string, UrdfJoint > &urdfJoints, std::string &rootLinkName)
- Quat indexedRotation(int axis, float s, float c)
- void inertiaToUrdf(const Matrix33 &inertia, UrdfInertia &urdfInertia)
- void mergeFixedChildLinks(const KinematicChain::Node &parentNode, UrdfRobot &robot)
- bool parseAxis(const tinyxml2::XMLElement &element, UrdfAxis &axis)
- bool parseDynamics(const tinyxml2::XMLElement &element, UrdfDynamics &dynamics)
- bool parseFixedFrames(const tinyxml2::XMLElement &element, std::map< std::string, UrdfLink > &links)
- bool parseGeometry(const tinyxml2::XMLElement &element, UrdfGeometry &geometry)
- bool parseInertia(const tinyxml2::XMLElement &element, UrdfInertia &inertia)
- bool parseInertial(const tinyxml2::XMLElement &element, UrdfInertial &inertial)
- bool parseJointType(const std::string &str, UrdfJointType &type)
- bool parseJoints(const tinyxml2::XMLElement &root, std::map< std::string, UrdfJoint > &urdfJoints)
- bool parseLimit(const tinyxml2::XMLElement &element, UrdfLimit &limit)
- bool parseLinks(const tinyxml2::XMLElement &root, std::map< std::string, UrdfLink > &urdfLinks)
- bool parseLoopJoints(const tinyxml2::XMLElement &element, std::map< std::string, UrdfLoopJoint > &loopJoints)
- bool parseMass(const tinyxml2::XMLElement &element, float &mass)
- bool parseMaterial(const tinyxml2::XMLElement &element, UrdfMaterial &material)
- bool parseMaterials(const tinyxml2::XMLElement &root, std::map< std::string, UrdfMaterial > &urdfMaterials)
- bool parseOrigin(const tinyxml2::XMLElement &element, Transform &origin)
- bool parseSensors(const tinyxml2::XMLElement &root, std::map< std::string, UrdfLink > &urdfLinks)
- bool parseUrdf(const std::string &urdfPackagePath, const std::string &urdfFileRelativeToPackage, UrdfRobot &urdfRobot)
- bool parseUrdfString(const std::string &urdf_str, UrdfRobot &urdfRobot)
- std::string resolveXrefPath(const std::string &assetRoot, const std::string &urdfPath, const std::string &xrefpath)
- Vec3 urdfAxisToVec(const UrdfAxis &axis)
- void urdfToInertia(const UrdfInertia &urdfInertia, Matrix33 &inertia)
Structs#
- ImportConfig
Configuration parameters for URDF import operations.
- Urdf
Interface for URDF parsing and import operations.
- UrdfAxis
Joint axis definition for URDF joints.
- UrdfCamera
Camera sensor configuration extending base sensor.
- UrdfCollision
Collision element definition for URDF links.
- UrdfColor
RGBA color specification for URDF materials.
- UrdfContact
Contact sensor configuration.
- UrdfDynamics
Joint dynamics properties for URDF joints.
- UrdfForce
Force sensor configuration.
- UrdfGeometry
Geometric shape definition for URDF visual and collision elements.
- UrdfGps
GPS sensor configuration.
- UrdfImu
Inertial measurement unit sensor configuration.
- UrdfInertia
Inertia tensor components for a rigid body.
- UrdfInertial
Inertial properties of a URDF link.
- UrdfJoint
Joint definition connecting two links in URDF robot model.
- UrdfJointDrive
Joint drive configuration for actuated joints.
- UrdfJointMimic
Joint mimic configuration for coupled joint motion.
- UrdfLimit
Joint motion limits for URDF joints.
- UrdfLink
Link definition in URDF robot model.
- UrdfLoopJoint
Loop joint definition for closed kinematic chains.
- UrdfMagnetometer
Magnetometer sensor configuration.
- UrdfMaterial
Material definition for URDF visual elements.
- UrdfNoise
Noise characteristics for sensor measurements.
- UrdfRay
Ray-based sensor configuration for lidar/laser scanners.
- UrdfRayDim
Ray dimension configuration for lidar sensors.
- UrdfRfid
RFID reader sensor configuration.
- UrdfRfidTag
RFID tag sensor configuration.
- UrdfRobot
Complete URDF robot model definition.
- UrdfSensor
Base sensor definition for URDF sensors.
- UrdfSonar
Sonar sensor configuration.
- UrdfVisual
Visual element definition for URDF links.