ikpy.urdf.URDF module

This module contains the main functions used to parse URDF files.

ikpy.urdf.URDF.get_chain_from_joints(urdf_file, joints)[source]

Return a complete URDF chain (e.g. links + joints) from a list of joints. This function is notafbly used by PyPot, which considers only joints, but needs to create the chain in order to use them as the base_elements of the get_urdf_parameters

Parameters:
Returns:

Return type:

list[Link]

ikpy.urdf.URDF.get_urdf_parameters(urdf_file, base_elements=None, last_link_vector=None, base_element_type='link', symbolic=True)[source]

Returns translated parameters from the given URDF file. Parse the URDF joints into IKPY links, throw away the URDF links.

Parameters:
  • urdf_file (str) – The path of the URDF file
  • base_elements (list of strings) – List of the links beginning the chain
  • last_link_vector (numpy.array) – Optional : The translation vector of the tip.
  • base_element_type (str) –
  • symbolic (bool) –
Returns:

Return type:

list[ikpy.link.URDFLink]