LisdfRobotMetadata

from tdw.lisdf_data.lisdf_robot_metadata import LisdfRobotMetadata

Metadata for how to add a robot from a .urdf file referenced by a .lisdf file. This will create a "fixed" version of a .urdf file that includes simplified namespaces, removed links, etc.

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Fields

• name The name of the robot.

• link_name_excludes_regex A list of regular expressions to search for in links, for example ["_gazebo_"]. Link names that match this will be removed.

• link_exclude_types Some links have a type attribute. Exclude links matching this types in this list, for example ["laser", "camera"].

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Functions

__init__

LisdfRobotMetadata(name)

LisdfRobotMetadata(name, link_name_excludes_regex=None, link_exclude_types=None)

Parameter	Type	Default	Description
name	str		The name of the robot.
link_name_excludes_regex	List[str]	None	A list of regular expressions to search for in links, for example ["_gazebo_"]. Link names that match this will be removed.
link_exclude_types	List[str]	None	Some links have a type attribute. Exclude links matching this types in this list, for example ["laser", "camera"].