urdf¶

Submodules¶

Classes¶

(None found)

Functions¶

brom_drake.file_manipulation.urdf.drakeify.drakeify_my_urdf(urdf_file_path: str | Path, overwrite_old_logs: bool = False, overwrite_old_models: bool = False, log_file_name: str = 'conversion.log', collision_mesh_replacement_strategy: MeshReplacementStrategy = MeshReplacementStrategy.kWithObj, replace_colors_with: None | List[float] = None) → Path[source]¶

Description

This function provides a convenience function for the user to convert a URDF file into a “Drake-ready” URDF file.

Parameters

urdf_file_path: str: A string representing the path to the URDF file that you would like to convert.
overwrite_old_models: bool (optional): A boolean flag that indicates whether or not to overwrite old models. Default is False.
overwrite_old_logs: bool (optional): A boolean flag that indicates whether or not to overwrite old logs. Default is False.
log_file_name: str (optional): A string representing the name of the log file. Default is “conversion.log”.
collision_mesh_replacement_strategy: MeshReplacementStrategy (optional): An enum representing the strategy for replacing collision meshes. Default is MeshReplacementStrategy.kWithObj.

Returns

Path: The path to the newly converted URDF file.

Variables¶

brom_drake.file_manipulation.urdf.all.URDF_CONVERSION_LEVEL = 21¶

int([x]) -> integer int(x, base=10) -> integer

Convert a number or string to an integer, or return 0 if no arguments are given. If x is a number, return x.__int__(). For floating point numbers, this truncates towards zero.

If x is not a number or if base is given, then x must be a string, bytes, or bytearray instance representing an integer literal in the given base. The literal can be preceded by ‘+’ or ‘-’ and be surrounded by whitespace. The base defaults to 10. Valid bases are 0 and 2-36. Base 0 means to interpret the base from the string as an integer literal. >>> int(‘0b100’, base=0) 4

brom_drake.file_manipulation.urdf.all.URDF_CONVERSION_LOG_LEVEL_NAME = 'BROM_URDF_CONVERSION'¶

str(object=’’) -> str str(bytes_or_buffer[, encoding[, errors]]) -> str

Create a new string object from the given object. If encoding or errors is specified, then the object must expose a data buffer that will be decoded using the given encoding and error handler. Otherwise, returns the result of object.__str__() (if defined) or repr(object). encoding defaults to sys.getdefaultencoding(). errors defaults to ‘strict’.