URDF Plugin API reference

API functions for URDF input.

simURDF.export
simURDF.import

simURDF.export

Description	Exports a URDF file
Lua synopsis	simURDF.export(int modelHandle,string fileName,int options=0)
Lua parameters	modelHandle: the handle of a model fileName: the URDF file path options: bit coded: bit0=transform dummies into red cubes, bit1=make visuals and collisions origin frame where parent joint is, if possible, bit2=do not reset joint positions to 0
Lua return values
See also	simURDF.import

simURDF.import

Description	Imports a URDF file
Lua synopsis	string robotName=simURDF.import(string fileName,int options=0,string replacementString=nil)
Lua parameters	fileName: the URDF file path options: bit coded: bit0=show collision links, bit1=showJoints, bit2=perform convex decompose on non convex collidables, bit3=create visual if none, bit5=do not center above ground, bit6=do not make model, bit7=do not alternate local respondable masks, bit8=no position control of dynamic joints, bit9=perform convex hull on non convex collidables, bit10=set shape origin at joint location where possible replacementString: an optional string that replaces all occurences of "package://" in the XML file
Lua return values	robotName: name of the robot
See also	simURDF.export