ikpy.urdf.utils module

class ikpy.urdf.utils.URDFTree(name)[source]

Bases: object

Utility class to represent a URDF tree, only used here Still very experimental, this class will change in the future

ikpy.urdf.utils.get_urdf_tree(urdf_path, root_element, out_image_path=None, legend=False)[source]

Parse an URDF file into a tree of links

Parameters:
  • urdf_path (str) – Path towards the URDF file
  • out_image_path (str) – If set, save the graph as a pdf in out_image_path
  • root_element (str) – name of the element that will be used as the root of the tree. Common to be “base”
  • legend (bool) – Add a legend to the final graph
Returns:

  • dot (graphviz.Digraph) – The rendered plot
  • urdf_tree (URDFTree)