UrdfRobot

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

struct UrdfRobot

Complete URDF robot model definition.

Represents the entire robot model containing all links, joints, materials, and metadata. Serves as the root container for the robot description.

Public Members

std::string name

Name identifier for the robot.

std::string rootLink

Name of the root link in the kinematic tree.

std::string urdfPath

File path to the original URDF file.

std::string assetRoot

Root directory for resolving relative asset paths.

std::map<std::string, UrdfLink> links

Map of all links in the robot indexed by name.

std::map<std::string, UrdfJoint> joints

Map of all joints in the robot indexed by name.

std::map<std::string, UrdfLoopJoint> loopJoints

Map of all loop joints in the robot indexed by name.

std::map<std::string, UrdfMaterial> materials

Map of all materials in the robot indexed by name.