tesseract_robotics.tesseract_urdf¶

URDF parsing and writing: parseURDFString / parseURDFFile build a SceneGraph, writeURDFFile writes one back, and writeMeshToFile writes a mesh as the PLY file a written URDF references.

Python

from tesseract_robotics.tesseract_common import GeneralResourceLocator
from tesseract_robotics.tesseract_urdf import parseURDFFile, writeURDFFile

locator = GeneralResourceLocator()
urdf = locator.locateResource("package://tesseract/support/urdf/lbr_iiwa_14_r820.urdf").getFilePath()

scene_graph = parseURDFFile(urdf, locator)
writeURDFFile(scene_graph, "/path/to/package", "robot.urdf")

Since tesseract 0.33 the <robot> element needs tesseract:make_convex="true" or "false" (xmlns:tesseract="http://ros.org/wiki/tesseract"), and a URDF with more than one link needs joints connecting them. Mesh URLs resolve through the locator. Prefer package:// URLs: upstream's file:// handling expects file:/// followed by an absolute POSIX path (resource_locator.cpp:161–163), so file://C:\... does not resolve on Windows.

writeMeshToFile¶

Python

from tesseract_robotics.tesseract_geometry import createMeshFromPath
from tesseract_robotics.tesseract_urdf import writeMeshToFile

(mesh,) = createMeshFromPath("model.stl")
writeMeshToFile(mesh, "model.ply")

The file is always an ASCII PLY, whatever the extension of filepath (urdf/src/utils.cpp:140–155). filepath is a str, the native type. None for mesh raises TypeError; a path that cannot be written (a missing directory, say) raises RuntimeError("Could not export file").

The string helpers in the same header (toString, trailingSlash, noTrailingSlash, noLeadingSlash, makeURDFFilePath) are not bound: Python's string formatting and pathlib cover them.

Auto-generated API Reference¶

tesseract_urdf Python bindings

parseURDFString ¶

Python

parseURDFString(urdf_xml_string: str, locator: ResourceLocator) -> tesseract_robotics.tesseract_scene_graph._tesseract_scene_graph.SceneGraph

Parse a URDF string into a SceneGraph

parseURDFFile ¶

Python

parseURDFFile(path: str, locator: ResourceLocator) -> tesseract_robotics.tesseract_scene_graph._tesseract_scene_graph.SceneGraph

Parse a URDF file into a SceneGraph

writeURDFFile ¶

Python

writeURDFFile(scene_graph: SceneGraph, package_path: str, urdf_name: str = '') -> None

Write a SceneGraph to a URDF file

writeMeshToFile ¶

Python

writeMeshToFile(mesh: PolygonMesh, filepath: str) -> None

Write the mesh as an ASCII PLY file (always PLY, whatever the extension of filepath).