Urdf

Fully qualified name: isaacsim::asset::importer::urdf::Urdf

struct Urdf

Interface for URDF parsing and import operations.

This structure defines the interface for URDF (Unified Robot Description Format) operations including parsing URDF files/strings and importing robots into the simulation environment.

Public Members

UrdfRobot (*parseUrdf)(const std::string &assetRoot, const std::string &assetName, ImportConfig &importConfig)

Parses a URDF file into a UrdfRobot data structure.

Param assetRoot:

[in] Root directory path for assets

Param assetName:

[in] Name of the URDF asset file

Param importConfig:

[inout] Configuration parameters for import

Return:

UrdfRobot data structure containing parsed robot information

UrdfRobot (*parseUrdfString)(const std::string &urdf_str, ImportConfig &importConfig)

Parses a URDF data string into a UrdfRobot data structure.

Param urdf_str:

[in] URDF content as string

Param importConfig:

[inout] Configuration parameters for import

Return:

UrdfRobot data structure containing parsed robot information

float (*computeJointNaturalStiffess)(const UrdfRobot &robot, std::string joint, float naturalFrequency)

Computes natural stiffness for a joint.

Param robot:

[in] Robot data structure

Param joint:

[in] Name of the joint

Param naturalFrequency:

[in] Desired natural frequency in Hz

Return:

Computed natural stiffness value

std::string (*importRobot)(const std::string &assetRoot, const std::string &assetName, const UrdfRobot &robot, ImportConfig &importConfig, const std::string &stage, const bool getArticulationRoot)

Imports a UrdfRobot into the stage.

Param assetRoot:

[in] Root directory path for assets

Param assetName:

[in] Name of the asset

Param robot:

[in] Robot data structure to import

Param importConfig:

[inout] Configuration parameters for import

Param stage:

[in] Stage identifier where robot will be imported

Param getArticulationRoot:

[in] Whether to get the articulation root

Return:

Path to the imported robot in the stage

pybind11::dict (*getKinematicChain)(const UrdfRobot &robot)

Gets the kinematic chain of the robot.

Param robot:

[in] Robot data structure

Return:

Python dictionary containing kinematic chain information