UrdfLink

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

struct UrdfLink

Link definition in URDF robot model.

Represents a rigid body in the robot with inertial properties, visual elements, collision geometry, sensors, and hierarchical relationships to other links.

Public Members

std::string name

Name identifier for the link.

UrdfInertial inertial

Inertial properties of the link.

std::vector<UrdfVisual> visuals

Visual elements for rendering the link.

std::vector<UrdfCollision> collisions

Collision elements for physics simulation.

std::map<std::string, Transform> mergedChildren

Transforms of merged child links (for fixed joint optimization).

std::vector<UrdfCamera> cameras

Camera sensors attached to this link.

std::vector<UrdfRay> lidars

Lidar sensors attached to this link.

std::string parentLink

Name of the parent link in the kinematic tree.

std::vector<std::string> childrenLinks

Names of child links in the kinematic tree.