A class that helps to generate the urdf string of an arm.
More...
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| None | __init__ (self, str genome_id) |
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| None | add_anchor (self, float length=1.0, bool can_rotate=True, Tuple[float] rotation_bounds=(0, 360)) |
| | Add an anchor module to the urdf. More...
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| None | add_module (self, float length, bool can_tilt=True, bool can_rotate=False, Tuple[float] tilt_bounds=(0, 90), Tuple[float] rotation_bounds=(0, 180)) |
| | Add a module to the urdf string. More...
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| str | get_urdf (self) |
| | Get the generated urdf string. More...
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| urdf |
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| anchor_added |
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| module_index |
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A class that helps to generate the urdf string of an arm.
◆ __init__()
| None morphevo.urdf_generator.URDFGenerator.__init__ |
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self, |
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str |
genome_id |
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) |
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- Parameters
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| genome_id | The id of the genome that will be translated to urdf. |
◆ add_anchor()
| None morphevo.urdf_generator.URDFGenerator.add_anchor |
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self, |
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float |
length = 1.0, |
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bool |
can_rotate = True, |
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Tuple[float] |
rotation_bounds = (0, 360) |
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) |
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Add an anchor module to the urdf.
- Parameters
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| length | The length of the anchor. |
| can_rotate | Represents if an anchor can rotate. |
| rotation_bounds | The bounds in which the arm can rotate. |
◆ add_module()
| None morphevo.urdf_generator.URDFGenerator.add_module |
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self, |
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float |
length, |
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bool |
can_tilt = True, |
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bool |
can_rotate = False, |
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Tuple[float] |
tilt_bounds = (0, 90), |
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Tuple[float] |
rotation_bounds = (0, 180) |
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) |
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Add a module to the urdf string.
- Parameters
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| length | The length of the module. |
| can_tilt | If a module can tilt. |
| can_rotate | If a module can rotate. |
| tilt_bounds | Angle bounds in between a module can tilt. |
| rotation_bounds | Angle bounds in between a module can rotate. |
◆ get_urdf()
| str morphevo.urdf_generator.URDFGenerator.get_urdf |
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self | ) |
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Get the generated urdf string.
- Returns
- The generated urdf string.
The documentation for this class was generated from the following file:
- src/morphevo/urdf_generator.py
