$\newcommand{\deriv}[2][]{\dfrac{\partial #1}{\partial #2}} \newcommand{\tderiv}[2][]{\tfrac{\partial #1}{\partial #2}} \newcommand{\fderiv}[2][]{\dfrac{d #1}{d #2}} \newcommand{\derivII}[3][]{\dfrac{\partial^2 #1}{\partial #2 \partial #3}} \newcommand{\tderivII}[3][]{\tfrac{\partial^2 #1}{\partial #2 \partial #3}} \newcommand{\derivIII}[4][]{\dfrac{\partial^3 #1}{\partial #2 \partial #3 \partial #4}} \newcommand{\tderivIII}[4][]{\tfrac{\partial^3 #1}{\partial #2 \partial #3 \partial #4}} \newcommand{\derivIV}[5][]{\dfrac{\partial^4 #1}{\partial #2 \partial #3 \partial #4 \partial #5}} \newcommand{\half}{\tfrac{1}{2}} % Macro for 1/2 \newcommand{\ud}{\mathrm{d}} \newcommand{\op}{\circ} \newcommand{\dq}{\dot{q}} \newcommand{\ddq}{\ddot{q}} \newcommand{\dt}{\Delta t}$

URDF Import Tool

The trep.ros module provides several tools for working with the ROS environment. The URDF import function allows trep to interface directly with the Unified Robot Description Format (URDF). See the python_trep wiki page for more details on supported URDF tags.

trep.ros.import_urdf(source, system=None, prefix=None)

Parameters:source – string containing the URDF xml data Return type:trep.system class

This function creates the trep.system class and fills in the frames and joints as defined in the URDF xml data.

source is a string containing the URDF data. May be loaded from the parameter server if using a launch file.

system is a previously defined trep.system class. If provided, the URDF will be imported into the existing system.

prefix is a string to be prefixed to all trep frames and configs created when importing the URDF. This is useful if importing the same URDF multiple times in a single system, ie. multiple robots.

The function returns the trep system defining the URDF.

trep.ros.import_urdf_file(filename, system=None, prefix=None)

Parameters:filename (string) – path to URDF Return type:trep.system class

This function creates the trep.system class and fills in the frames and joints as defined in the URDF file.

filename is the complete path to the URDF file.

system is a previously defined trep.system class. If provided, the URDF will be imported into the existing system.

prefix is a string to be prefixed to all trep frames and configs created when importing the URDF. This is useful if importing the same URDF multiple times in a single system, ie. multiple robots.

The function returns the trep system defining the URDF.