URDF Support

rerun.urdf

class UrdfJoint

A URDF joint with properties and transform computation.

axis: tuple[float, float, float] property

Axis of the joint.

child_link: str property

Name of the child link.

joint_type: str property

Type of the joint (revolute, continuous, prismatic, fixed, etc.).

limit_effort: float property

Effort limit of the joint.

limit_lower: float property

Lower limit of the joint.

limit_upper: float property

Upper limit of the joint.

limit_velocity: float property

Velocity limit of the joint.

name: str property

Name of the joint.

origin_rpy: tuple[float, float, float] property

Origin of the joint (rotation in roll, pitch, yaw).

origin_xyz: tuple[float, float, float] property

Origin of the joint (translation).

parent_link: str property

Name of the parent link.

def compute_transform(angle)

Compute a Transform3D for this joint at the given angle.

PARAMETER	DESCRIPTION
angle	Joint angle in radians (revolute/continuous) or distance in meters (prismatic). Ignored for fixed joints. Values outside limits are clamped with a warning. TYPE: float

RETURNS	DESCRIPTION
Transform3D	Transform with rotation, translation, parent_frame, and child_frame ready to log.

class UrdfLink

A URDF link.

name: str property

Name of the link.

class UrdfTree

A URDF robot model with joints and links.

Not directly loggable. Use this to access the structure of a URDF file and compute transforms for individual joints, which can then be logged using archetypes.Transform3D.

name: str property

Name of the robot defined in this URDF.

def from_file_path(path, entity_path_prefix=None) staticmethod

Load a URDF file from the given path.

PARAMETER	DESCRIPTION
path	Path to the URDF file. TYPE: str | Path
entity_path_prefix	Optional entity path prefix. TYPE: str | None DEFAULT: None

def get_collision_geometry_paths(link)

Get the entity paths for all collision geometries of the given link, if any.

PARAMETER	DESCRIPTION
link	The link for which to retrieve the collision geometry entity paths, either by name or as an UrdfLink instance. TYPE: str | UrdfLink

def get_joint_by_name(joint_name)

Get a joint by name.

PARAMETER	DESCRIPTION
joint_name	Name of the joint. TYPE: str

def get_joint_child(joint)

Get the child link of a joint.

PARAMETER	DESCRIPTION
joint	The joint whose child link to retrieve. TYPE: UrdfJoint

def get_link_by_name(link_name)

Get a link by name.

PARAMETER	DESCRIPTION
link_name	Name of the link. TYPE: str

def get_visual_geometry_paths(link)

Get the entity paths for all visual geometries of the given link, if any.

PARAMETER	DESCRIPTION
link	The link for which to get visual geometry paths, either by name or as an UrdfLink instance. TYPE: str | UrdfLink

def joints()

Get all joints in the URDF.

def root_link()

Get the root link of the URDF.