urdf

Submodules

• drake_ready_urdf_converter
• shapes
• simple_writer

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

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

(None found)