URDF

class UrdfTransformManager(TransformManager):
    def __init__(self, strict_check=True, check=True):
        """Initialize URDF-capable transformation manager."""

    def load_urdf(self, urdf_xml, mesh_path=None, package_dir=None):
        """
        Load robot description from URDF file.
        
        Parameters:
        - urdf_xml: str - URDF XML content or file path
        - mesh_path: str, optional - Path to mesh files
        - package_dir: str, optional - ROS package directory
        """

    def add_joint(self, joint_name, from_frame, to_frame, child2parent, axis, limits=(float("-inf"), float("inf")), joint_type="revolute"):
        """
        Add joint to robot model.
        
        Parameters:
        - joint_name: str - Joint identifier
        - from_frame: str - Parent frame name
        - to_frame: str - Child frame name
        - child2parent: array, shape (4, 4) - Joint transformation
        - axis: array, shape (3,) - Joint rotation axis
        - limits: tuple - Joint angle limits (min, max)
        - joint_type: str - Joint type ("revolute", "prismatic", "fixed")
        """

    def set_joint(self, joint_name, value):
        """
        Set joint position.
        
        Parameters:
        - joint_name: str - Joint identifier
        - value: float - Joint angle in radians (or position for prismatic)
        """

    def get_joint_limits(self, joint_name):
        """
        Get joint limits.
        
        Parameters:
        - joint_name: str - Joint identifier
        
        Returns:
        - limits: tuple - (min_limit, max_limit)
        """

    def plot_visuals(self, frame, ax=None, ax_s=1, wireframe=False, convex_hull_of_mesh=True, alpha=0.3):
        """Plot visual geometries of robot in specified frame."""

    def plot_collision_objects(self, frame, ax=None, ax_s=1, wireframe=True, convex_hull_of_mesh=True, alpha=1.0):
        """Plot collision geometries of robot in specified frame."""

class Box(Geometry):
    def __init__(self, frame, mesh_path, package_dir, color):
        """Box geometry primitive."""
        
    # Attributes:
    # size: np.ndarray, shape (3,) - Box dimensions [width, height, depth]

class Sphere(Geometry):
    def __init__(self, frame, mesh_path, package_dir, color):
        """Sphere geometry primitive."""
        
    # Attributes:
    # radius: float - Sphere radius

class Cylinder(Geometry):
    def __init__(self, frame, mesh_path, package_dir, color):
        """Cylinder geometry primitive."""
        
    # Attributes:
    # radius: float - Cylinder radius
    # length: float - Cylinder height

class Mesh(Geometry):
    def __init__(self, frame, mesh_path, package_dir, color):
        """Mesh geometry from file."""
        
    # Attributes:
    # filename: str - Path to mesh file
    # scale: np.ndarray, shape (3,) - Scaling factors [x, y, z]

def parse_urdf(urdf_xml, mesh_path=None, package_dir=None, strict_check=True):
    """
    Parse URDF XML into structured data.
    
    Parameters:
    - urdf_xml: str - URDF XML content
    - mesh_path: str, optional - Path to mesh files
    - package_dir: str, optional - ROS package directory
    - strict_check: bool - Enable strict validation
    
    Returns:
    - robot_name: str - Robot name from URDF
    - links: list of Link - Parsed link objects
    - joints: list of Joint - Parsed joint objects
    """

def initialize_urdf_transform_manager(tm, robot_name, links, joints):
    """
    Initialize TransformManager from parsed URDF data.
    
    Parameters:
    - tm: UrdfTransformManager - Transform manager instance
    - robot_name: str - Robot name
    - links: list of Link - Link objects
    - joints: list of Joint - Joint objects
    """

class UrdfException(Exception):
    """Exception raised during URDF parsing or processing."""

from pytransform3d.urdf import UrdfTransformManager

# Create URDF manager
utm = UrdfTransformManager()

# Load robot from URDF file
with open("robot.urdf", "r") as f:
    urdf_content = f.read()

utm.load_urdf(urdf_content, mesh_path="./meshes/")

# Print available frames
print("Robot frames:", utm.nodes)

# Set joint positions
utm.set_joint("shoulder_joint", 0.5)  # 0.5 radians
utm.set_joint("elbow_joint", -1.2)    # -1.2 radians

# Get end effector pose
base_to_end = utm.get_transform("base_link", "end_effector")
print(f"End effector position: {base_to_end[:3, 3]}")

from pytransform3d.urdf import UrdfTransformManager
import numpy as np

utm = UrdfTransformManager()
utm.load_urdf(urdf_content)

# Get joint limits
shoulder_limits = utm.get_joint_limits("shoulder_joint")
print(f"Shoulder joint limits: {shoulder_limits}")

# Set joint within limits
joint_angle = np.clip(1.5, shoulder_limits[0], shoulder_limits[1])
utm.set_joint("shoulder_joint", joint_angle)

# Animate joint motion
angles = np.linspace(shoulder_limits[0], shoulder_limits[1], 50)
end_positions = []

for angle in angles:
    utm.set_joint("shoulder_joint", angle)
    T = utm.get_transform("base_link", "end_effector")
    end_positions.append(T[:3, 3])

end_positions = np.array(end_positions)
print(f"End effector trajectory: {end_positions.shape}")

import matplotlib.pyplot as plt
from pytransform3d.urdf import UrdfTransformManager
from pytransform3d.plot_utils import make_3d_axis

# Load robot
utm = UrdfTransformManager()
utm.load_urdf(urdf_content, mesh_path="./meshes/")

# Set robot configuration
utm.set_joint("base_joint", 0.0)
utm.set_joint("shoulder_joint", 0.5)
utm.set_joint("elbow_joint", -1.0)
utm.set_joint("wrist_joint", 0.3)

# Plot robot
ax = make_3d_axis(ax_s=2)

# Plot coordinate frames
utm.plot_frames_in("base_link", ax=ax, s=0.1)

# Plot visual geometries
utm.plot_visuals("base_link", ax=ax, alpha=0.7)

# Plot collision objects (wireframe)
utm.plot_collision_objects("base_link", ax=ax, wireframe=True, alpha=0.3)

ax.set_xlabel('X')
ax.set_ylabel('Y')
ax.set_zlabel('Z')
plt.show()

import numpy as np
import matplotlib.pyplot as plt
from pytransform3d.urdf import UrdfTransformManager

utm = UrdfTransformManager()
utm.load_urdf(urdf_content)

# Define multiple configurations
configurations = [
    {"shoulder_joint": 0.0, "elbow_joint": 0.0},
    {"shoulder_joint": 0.5, "elbow_joint": -1.0},
    {"shoulder_joint": 1.0, "elbow_joint": -1.5},
    {"shoulder_joint": -0.5, "elbow_joint": 0.8},
]

# Plot workspace
fig = plt.figure(figsize=(12, 8))
ax = fig.add_subplot(111, projection='3d')

colors = ['red', 'green', 'blue', 'orange']

for i, config in enumerate(configurations):
    # Set configuration
    for joint_name, angle in config.items():
        utm.set_joint(joint_name, angle)
    
    # Get end effector position
    T = utm.get_transform("base_link", "end_effector")
    pos = T[:3, 3]
    
    # Plot end effector
    ax.scatter(*pos, c=colors[i], s=100, label=f'Config {i+1}')
    
    # Plot robot frames (smaller)
    utm.plot_frames_in("base_link", ax=ax, s=0.05)

ax.set_xlabel('X')
ax.set_ylabel('Y')
ax.set_zlabel('Z')
ax.legend()
plt.show()

import numpy as np
from pytransform3d.urdf import UrdfTransformManager

utm = UrdfTransformManager()
utm.load_urdf(urdf_content)

# Sample joint space
n_samples = 1000
joint_names = ["shoulder_joint", "elbow_joint", "wrist_joint"]

# Get joint limits
limits = {}
for joint_name in joint_names:
    limits[joint_name] = utm.get_joint_limits(joint_name)

# Generate random configurations
workspace_points = []
for _ in range(n_samples):
    config = {}
    for joint_name in joint_names:
        low, high = limits[joint_name]
        if np.isfinite(low) and np.isfinite(high):
            angle = np.random.uniform(low, high)
        else:
            angle = np.random.uniform(-np.pi, np.pi)
        config[joint_name] = angle
        utm.set_joint(joint_name, angle)
    
    # Get end effector position
    T = utm.get_transform("base_link", "end_effector")
    workspace_points.append(T[:3, 3])

workspace_points = np.array(workspace_points)

# Analyze workspace
print(f"Workspace bounds:")
print(f"  X: {workspace_points[:, 0].min():.3f} to {workspace_points[:, 0].max():.3f}")
print(f"  Y: {workspace_points[:, 1].min():.3f} to {workspace_points[:, 1].max():.3f}")
print(f"  Z: {workspace_points[:, 2].min():.3f} to {workspace_points[:, 2].max():.3f}")

# Plot workspace
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
ax.scatter(workspace_points[:, 0], workspace_points[:, 1], workspace_points[:, 2], 
          alpha=0.1, s=1)
ax.set_xlabel('X')
ax.set_ylabel('Y')
ax.set_zlabel('Z')
plt.show()