URDFType() |
Abstract base class for all URDF types. |
Box(size) |
A rectangular prism whose center is at the local origin. |
Cylinder(radius, length) |
A cylinder whose center is at the local origin. |
Sphere(radius) |
A sphere whose center is at the local origin. |
Mesh(filename[, scale, meshes]) |
A triangular mesh object. |
Geometry([box, cylinder, sphere, mesh]) |
A wrapper for all geometry types. |
Texture(filename[, image]) |
An image-based texture. |
Material(name[, color, texture]) |
A material for some geometry. |
Collision(name, origin, geometry) |
Collision properties of a link. |
Visual(geometry[, name, origin, material]) |
Visual properties of a link. |
Inertial(mass, inertia[, origin]) |
The inertial properties of a link. |
JointCalibration([rising, falling]) |
The reference positions of the joint. |
JointDynamics(damping, friction) |
The dynamic properties of the joint. |
JointLimit(effort, velocity[, lower, upper]) |
The limits of the joint. |
JointMimic(joint[, multiplier, offset]) |
A mimicry tag for a joint, which forces its configuration to mimic another joint’s. |
SafetyController(k_velocity[, k_position, …]) |
A controller for joint movement safety. |
Actuator(name[, mechanicalReduction, …]) |
An actuator. |
TransmissionJoint(name, hardwareInterfaces) |
A transmission joint specification. |
Transmission(name, trans_type[, joints, …]) |
An element that describes the relationship between an actuator and a joint. |
Joint(name, joint_type, parent, child[, …]) |
A connection between two links. |
Link(name, inertial, visuals, collisions) |
A link of a rigid object. |
URDF(name, links[, joints, transmissions, …]) |
The top-level URDF specification. |