Geometry

class urdfgenpy.Box(length, width, height)

Bases: object

Axis-aligned rectangular box.

Parameters:

• length (float) – Dimension along X (metres).

• width (float) – Dimension along Y (metres).

• height (float) – Dimension along Z (metres).

length: float

width: float

height: float

to_xml()

Return the ‘<box>’ XML element string.

Return type:

str

property shape: str

‘box’

Type:

Geometry type identifier

class urdfgenpy.Cylinder(radius, length)

Bases: object

Cylinder whose symmetry axis is aligned with Z by default.

Parameters:

• radius (float) – Radius (metres).

• length (float) – Length along the symmetry axis (metres).

radius: float

length: float

to_xml()

Return the ‘<cylinder>’ XML element string.

Return type:

str

property shape: str

‘cylinder’

Type:

Geometry type identifier

class urdfgenpy.Sphere(radius)

Bases: object

Sphere primitive.

Parameters:

radius (float) – Radius (metres).

radius: float

to_xml()

Return the ‘<sphere>’ XML element string.

Return type:

str

property shape: str

‘sphere’

Type:

Geometry type identifier