Link

class urdfgenpy.Link(name, visuals=<factory>, collisions=<factory>, inertial=None)

Bases: object

A rigid body in the robot kinematic tree.

Parameters:

• name (str) – Unique link name.

• visuals (list[Visual]) – List of :class:’Visual’ elements (rendered appearance).

• collisions (list[Collision]) – List of :class:’Collision’ elements (physics shape).

• inertial (Optional[Inertial]) – Optional :class:’Inertial’ element (mass/inertia).

name: str

visuals: list[Visual]

collisions: list[Collision]

inertial: Inertial | None = None

add_visual(visual)

Append a :class:’Visual’ element and return ‘self’ for chaining.

Parameters:

visual (Visual) – The visual element to add.

Return type:

Link

Returns:

This – class:’Link’ instance.

add_collision(collision)

Append a :class:’Collision’ element and return ‘self’ for chaining.

Parameters:

collision (Collision) – The collision element to add.

Return type:

Link

Returns:

This – class:’Link’ instance.

set_inertial(inertial)

Set the :class:’Inertial’ element and return ‘self’ for chaining.

Parameters:

inertial (Inertial) – The inertial element to assign.

Return type:

Link

Returns:

This – class:’Link’ instance.

to_xml(indent='')

Return the ‘<link>’ XML block string.

Parameters:

indent (str) – Leading whitespace prepended to each line.

Return type:

str

Returns:

A multi-line ‘<link>…</link>’ XML string.