Origin.from_urdf

classmethod Origin.from_urdf(attributes, elements, text)

Create origin instance from an URDF element.

Parameters

  • attributes (dict) – Attributes of the URDF element.

  • elements (list of obj) – Children elements of the URDF element.

  • text (str or None) – Text content of the URDF element.

Returns

Origin – Origin instance.

Examples

>>> attributes = {'rpy': '0.0 1.57 0.0', 'xyz': '0.0 0.13 0.0'}
>>> Origin.from_urdf(attributes, [], None)
Frame(Point(0.000, 0.130, 0.000), Vector(0.001, 0.000, -1.000), Vector(0.000, 1.000, 0.000))