timor.utilities.write_urdf
==========================

.. py:module:: timor.utilities.write_urdf


Functions
---------

.. autoapisummary::

   timor.utilities.write_urdf.from_geometry
   timor.utilities.write_urdf.from_pin_inertia


Module Contents
---------------

.. py:function:: from_geometry(geometry, which, name, link_frame = Transformation.neutral().homogeneous)

   Takes a Geometry and turns it into a URDF geometry

   :param geometry: Geometry instance to transform
   :param which: Either <visual> or <collision>, decides which tag is used
   :param name: The name of the robot geometry
   :param link_frame: The relative position of the body frame regarding the previous joint. URDF does not know the
       concept of a distinct body/link frame, so we have to change the positioning accordingly.


.. py:function:: from_pin_inertia(i, link_frame = Transformation.neutral())

   Takes a pin Inertia and returns a URDF <Inertial> element

   :param i: The original inertia data from a body
   :param link_frame: The relative position of the body frame regarding the previous joint. URDF does not know the
       concept of a distinct body/link frame, so we have to change the positioning accordingly.