blenderproc.python.loader.URDFLoader module¶

blenderproc.python.loader.URDFLoader.create_bone(armature, joint_tree, all_joint_trees, parent_bone_name=None, create_recursive=True, parent_origin=None, fk_offset=[0.0, -1.0, 0.0], ik_offset=[0.0, 1.0, 0.0])[source]¶

Creates deform, fk and ik bone for a specific joint. Can loop recursively through the child(ren).

Parameters:

armature (Armature) – The armature which encapsulates all bones.
joint_tree (urdfpy.Joint) – The urdf definition for the joint.
all_joint_trees (List[Forwardref]) – List of urdf definitions for all joints.
parent_bone_name (Optional[str]) – Name of the parent bone.
create_recursive (bool) – Whether to recursively create bones for the child(ren) of the link.
parent_origin (Optional[Matrix]) – Pose of the parent.
fk_offset (Union[List[float], Vector, <built-in function array>]) – Offset between fk bone chain and link bone chain. This does not have any effect on the transformations, but can be useful for visualization in blender.
ik_offset (Union[List[float], Vector, <built-in function array>]) – Offset between fk bone chain and link bone chain. Effects on the transformation (e.g. urdf_object.set_location_ik()) are being handled internally. Useful for visualization in blender.

blenderproc.python.loader.URDFLoader.get_joints_which_have_link_as_child(link_name, joint_trees)[source]¶

Returns the joint which is the parent of a specific link.

Parameters:	link_name (`str`) – Name of the link. joint_trees (`List`[`Forwardref`]) – List of urdfpy.Joint objects.
Return type:	`Optional`[`Forwardref`]
Returns:	List of urdfpy.Joint objects, or None if no joint is defined as parent for the respective link.

blenderproc.python.loader.URDFLoader.get_joints_which_have_link_as_parent(link_name, joint_trees)[source]¶

Returns a list of joints which have a specific link as parent.

Parameters:	link_name (`str`) – Name of the link. joint_trees (`List`[`Forwardref`]) – List of urdfpy.Joint objects.
Return type:	`List`[`Forwardref`]
Returns:	List of urdfpy.Joint objects.

blenderproc.python.loader.URDFLoader.get_size_from_geometry(geometry)[source]¶

Helper to derive the link size from the largest geometric element.

Parameters:	geometry (urdfpy.Geometry) – The urdf representation of the geometric element.
Return type:	`Optional`[`float`]
Returns:	A single float representing the link’s size.

blenderproc.python.loader.URDFLoader.load_geometry(geometry_tree, urdf_path=None)[source]¶

Loads a geometric element from an urdf tree.

Parameters:	geometry_tree (urdfpy.Geometry) – The urdf representation of the geometric element. urdf_path (`Optional`[`str`]) – Optional path of the urdf file for relative geometry files.
Return type:	`MeshObject`
Returns:	The respective MeshObject.

blenderproc.python.loader.URDFLoader.load_inertial(inertial_tree, name)[source]¶

Loads an inertial element from an urdf tree.

Parameters:	inertial_tree (urdfpy.Inertial) – The urdf representation of the inertial element. name (`str`) – Name if the inertial element.
Return type:	`Inertial`
Returns:	The respective Inertial object.

blenderproc.python.loader.URDFLoader.load_links(link_trees, joint_trees, armature, urdf_path)[source]¶

Loads links and their visual, collision and inertial objects from a list of urdfpy.Link objects.

Parameters:	link_trees (`List`[`Forwardref`]) – List of urdf definitions for all links. joint_trees (`List`[`Forwardref`]) – List of urdf definitions for all joints. armature (`Armature`) – The armature which encapsulates all bones. urdf_path (`str`) – Path to the URDF file.
Return type:	`List`[`Link`]
Returns:	List of links.

blenderproc.python.loader.URDFLoader.load_urdf(urdf_file, weight_distribution='rigid', fk_offset=[0.0, -1.0, 0.0], ik_offset=[0.0, 1.0, 0.0])[source]¶

Loads an urdf object from an URDF file.

Parameters:	urdf_file (`str`) – Path to the URDF file. weight_distribution (`str`) – One of [‘envelope’, ‘automatic’, ‘rigid’]. For more information please see https://docs.blender.org/manual/en/latest/animation/armatures/skinning/parenting.html. fk_offset (`Union`[`List`[`float`], `Vector`, <built-in function array>]) – Offset between fk (forward kinematic) bone chain and link bone chain. This does not have any effect on the transformations, but can be useful for visualization in blender. ik_offset (`Union`[`List`[`float`], `Vector`, <built-in function array>]) – Offset between ik (inverse kinematic) bone chain and link bone chain. Effects on the transformation (e.g. urdf_object.set_location_ik()) are being handled internally. Useful for visualization in blender.
Return type:	`URDFObject`
Returns:	URDF object instance.

blenderproc.python.loader.URDFLoader.load_visual_collision_obj(viscol_tree, name, urdf_path=None)[source]¶

Loads a visual / collision element from an urdf tree.

Parameters:	viscol_tree (`Union`[`Forwardref`, `Forwardref`]) – The urdf representation of the visual / collision element. name (`str`) – Name of the visual / collision element. urdf_path (`Optional`[`str`]) – Optional path of the urdf file for relative geometry files.
Return type:	`MeshObject`
Returns:	The respective MeshObject.

blenderproc.python.loader.URDFLoader.propagate_pose(links, joint_tree, joint_trees, armature, recursive=True)[source]¶

Loads links and their visual, collision and inertial objects from a list of urdfpy.Link objects.

Parameters:	links (`List`[`Link`]) – List of links. joint_tree (urdfpy.Joint) – The urdf definition for the joint. joint_trees (`List`[`Forwardref`]) – List of urdf definitions for all joints. armature (`Armature`) – The armature which encapsulates all bones. recursive (`bool`) – Whether to recursively create bones for the child(ren) of the link.