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build_models_from_urdf

dynamics_parse::urdf

Function build_models_from_urdf 

Source 
pub fn build_models_from_urdf(
    filepath: &str,
    package_dir: Option<&str>,
) -> Result<(Model, GeometryModel, GeometryModel), ParseError>
Expand description

Parses a URDF file and builds the corresponding Model and GeometryModel.

§Arguments

  • filepath - The path to the URDF file.
  • package_dir - The path to the folder containing the mesh files referenced in the URDF.

§Returns

A 3-tuple containing the Model, a collision GeometryModel, and a visualization GeometryModel objects if successful.

Returns a ParseError if there is an error during parsing.