twizy_description/src/twizy_description/robot_description.py
def urdf_str(self, name, base='base_link', transformation=np.identity(4),
                 header=''):
        """Generate a URDF string representation of this node tree

        :param name: Name of the robot
        :type name: str
        :param base: Name of the base link in the URDF representation
        :type base: str
        :param transformation: A 4x4 transformation matrix to apply to the
            robot before generating its URDF representation
        :param header: A header to put in a comment at the start of the
            generated URDF
        :type header: str

        :return: A URDF string representation of this node and it's children
        """

        _URDFLink.index, _URDFJoint.index = 0, 0

        base_link = _URDFLink(base)
        self._urdf(transformation, base_link)

        doc = minidom.Document()

        if header:
            doc.appendChild(doc.createComment(header))

        robot = doc.createElement('robot')
        robot.setAttribute('name', name)

        base_link.xml(doc, robot)

        doc.appendChild(robot)

        return doc.toprettyxml(indent='    ')
Generate a URDF string representation of this node tree

        :param name: Name of the robot
        :type name: str
        :param base: Name of the base link in the URDF representation
        :type base: str
        :param transformation: A 4x4 transformation matrix to apply to the
            robot before generating its URDF representation
        :param header: A header to put in a comment at the start of the
            generated URDF
        :type header: str

        :return: A URDF string representation of this node and it's children
        
Generate a URDF string representation of this node tree
Generate a URDF string representation of this node tree
def urdf_str(self, name, base='base_link', transformation=np.identity(4),
                 header=''):
        _URDFLink.index, _URDFJoint.index = 0, 0
        base_link = _URDFLink(base)
        self._urdf(transformation, base_link)
        doc = minidom.Document()
        if header:
            doc.appendChild(doc.createComment(header))
        robot = doc.createElement('robot')
        robot.setAttribute('name', name)
        base_link.xml(doc, robot)
        doc.appendChild(robot)
        return doc.toprettyxml(indent='    ')
def urdf_str ( self , name , base = 'base_link' , transformation = np . identity ( 4 ) , header = '' ) : _URDFLink . index , _URDFJoint . index = 0 , 0 base_link = _URDFLink ( base ) self . _urdf ( transformation , base_link ) doc = minidom . Document ( ) if header : doc . appendChild ( doc . createComment ( header ) ) robot = doc . createElement ( 'robot' ) robot . setAttribute ( 'name' , name ) base_link . xml ( doc , robot ) doc . appendChild ( robot ) return doc . toprettyxml ( indent = '    ' )
Generate a URDF string representation of this node tree
Generate a URDF string representation of this node tree
"""Generate a URDF string representation of this node tree

        :param name: Name of the robot
        :type name: str
        :param base: Name of the base link in the URDF representation
        :type base: str
        :param transformation: A 4x4 transformation matrix to apply to the
            robot before generating its URDF representation
        :param header: A header to put in a comment at the start of the
            generated URDF
        :type header: str

        :return: A URDF string representation of this node and it's children
        """
A URDF string representation of this node and it's children
A URDF string representation of this node and it ' s children
self
name
Name of the robot
Name of the robot
base
Name of the base link in the URDF representation
Name of the base link in the URDF representation
transformation
A 4x4 transformation matrix to apply to the
robot before generating its URDF representation
A 4x4 transformation matrix to apply to the robot before generating its URDF representation
header
A header to put in a comment at the start of the
generated URDF
A header to put in a comment at the start of the generated URDF