URDF.pl

 has_urdf(+Object, +RootObject) is semidet

True if Object is a part of RootObject, and RootObject is assigned to some URDF description.

Arguments:

Part	- IRI atom
Root	- IRI atom

 urdf_load(+Object, +File) is semidet

Same as urdf_load/3 with empty options list.

Arguments:

Object	- IRI atom
File	- Path to URDF file

 urdf_load(+Object, +File, +Options) is semidet

Assert a URDF file as description of an object. This is primarly done to associate parts of the object to links described in the URDF file. Links and joints in the URDF file may further be mapped to a RDF model and asserted to the triple store.

Arguments:

Object	- IRI atom
File	- Path to URDF file
Options	- List of options

 urdf_set_pose_to_origin(+Object, +Frame) is semidet

Same as urdf_set_pose/2 but assigns the base of the URDF to be located exactly at the frame given in the second argument.

Arguments:

Object	- IRI atom
Frame	- URDF frame name atom

 urdf_set_pose(+Object, +Pose) is semidet

Assign the initial pose of links described in URDF as the current pose of link entities. This requires that the load_rdf option was used in urdf_load/3. The base link of the URDF is assigned to the transform given in the second argument.

Arguments:

Object	- IRI atom
Frame	- A pose list of frame-position-quaternion

 is_urdf_link(?Entity) is semidet

 is_urdf_joint(?Entity) is semidet

 has_base_link_name(?Obj, ?Name) is semidet

 has_end_link_name(?Obj, ?Name) is semidet

 has_base_link(?Obj, ?Link) is semidet

 has_end_link(?Obj, ?Link) is semidet

 has_child_link(?Joint, ?Link) is semidet

 has_parent_link(?Joint, ?Link) is semidet

 urdf_robot_name(+Object, -Name) is semidet

Get the name of the currently loaded robot.

 urdf_root_link(+Object, -Name) is semidet

Get the name of the root link of the robot.

 urdf_link_parent_joint(+Object, +LinkName, -JointName) is semidet

Get the name of the parent joint of a link.

 urdf_link_child_joints(+Object, +LinkName, -JointNames) is semidet

Get the list of joint names of all child joints of a link.

 urdf_link_inertial(+Object, +LinkName, -Inertia, -Origin, -Mass) is semidet

Get the inertial origin of a link as a pose w.r.t. the origin frame of a link.

Inertia matrices are coded as a list: [XX, XY, XZ, YY, YZ, ZZ]. For an explanation, visit: http://wiki.ros.org/urdf/XML/link

 urdf_joint_type(+Object, +JointName, Type) is semidet

Get the type of a joint. Possible types: revolute, prismatic, continuous, fixed, floating, planar, and unknown.

 urdf_joint_child_link(+Object, +JointName, -LinkName) is semidet

Get the name of the link of a joint.

 urdf_joint_parent_link(+Object, +JointName, -LinkName) is semidet

Get the name the parent link of a joint.

 urdf_joint_axis(+Object, +JointName, -Axis) is semidet

Get the axis of a joint, expressed as a list [X, Y, Z].

 urdf_joint_origin(+Object, +JointName, -Origin) is semidet

Get the origin of a joint, expressed as a pose w.r.t. the link frame of its parent link.

Poses are coded as a compound term: pose([X,Y,Z],[QX,QY,QZ,QW]), with the orientation represented as Quaternion.

 urdf_joint_damping(+Object, +JointName, -Damping) is semidet

Read the damping value of a joint.

 urdf_joint_friction(+Object, +JointName, -Friction) is semidet

Get the static friction value of a joint.

 urdf_joint_hard_limits(+Object, +JointName, -PosLimits, -VelMax, -EffMax) is semidet

Read the hard limits of a joint.

 urdf_joint_soft_limits(+Object, +JointName, -PosLimits, -KP, -KV) is semidet

Read the soft limits of a joint.

Undocumented predicates

The following predicates are exported, but not or incorrectly documented.

 urdf_joint_names(Arg1, Arg2)

 urdf_joint_calibration_falling(Arg1, Arg2, Arg3)

 urdf_link_names(Arg1, Arg2)

 urdf_link_collision_shape(Arg1, Arg2, Arg3, Arg4)

 urdf_init

 urdf_joint_calibration_rising(Arg1, Arg2, Arg3)

 urdf_link_visual_shape(Arg1, Arg2, Arg3, Arg4, Arg5, Arg6)