concepts.simulator.sapien2.urdf_exporter#
Functions
|
Export an articulation joint. No joint mimic support yet. If the joint has no parent_link (joint from root link to 1st robot link), generates <joint name="__root_joint__" type="fixed"> <parent link="__world__"></parent> <child link="link_base"></child> </joint>. |
|
Exports the articulation's kinematic chain URDF as a string (without visual/collision elements for links) |
|
|
|
Export an articulation link. Generates <link name="world"> <inertial> <origin rpy="0.0 -0.0 0.0" xyz="0.0 0.0 0.0"></origin> <mass value="9.999999974752427e-07"></mass> <inertia ixx="1e-06" ixy="0" ixz="0" iyy="1e-06" iyz="0" izz="1e-06"></inertia> </inertial> </link>. |