urdf-rs

URDF parser for Rust.

Only link and joint are supported.

URDF versions

The version attribute of <robot> is supported, like urdfdom. If it is omitted, version 1.0 is assumed.

• 1.1: The quat_xyzw attribute of <origin> is supported. It is converted to rpy when parsing.
• 1.2: The acceleration, deceleration and jerk attributes of <limit> are supported. Omitted limits mean no limit and are represented as infinity. Negative limits, upper smaller than lower, and non-positive or non-finite geometry dimensions are errors.

Example

You can access urdf elements like below example.

let urdf_robot = urdf_rs::read_file("sample.urdf").unwrap();
let links = urdf_robot.links;
println!("{:?}", links[0].visual[0].origin.xyz);
let joints = urdf_robot.joints;
println!("{:?}", joints[0].origin.xyz);

OpenRR Community

Here is a discord server for OpenRR users and developers.