Exporters

class urdfgenpy.URDFExporter

Bases: object

Converts a :class:’~urdfgenpy.Robot’ to a URDF XML string.

export(robot)

Render robot as a URDF XML string.

Parameters:

robot (Robot) – The :class:’~urdfgenpy.Robot’ to serialize.

Return type:

str

Returns:

A complete, well-formed URDF XML string including the XML declaration and ‘<robot>’ root element.

class urdfgenpy.XacroExporter

Bases: object

Converts a :class:’~urdfgenpy.Robot’ to a Xacro XML string.

The output includes ‘xacro:property’ and ‘xacro:macro’ definitions for standard inertia calculations, making the file easy to parameterise further.

export(robot)

Render robot as a Xacro XML string.

Parameters:

robot (Robot) – The :class:’~urdfgenpy.Robot’ to serialize.

Return type:

str

Returns:

A complete Xacro XML string with inertia macro definitions, the XML declaration, and the ‘<robot>’ root element.