标签: urdf

我有一个机器人 URDF，它使用“package://”指向网格文件。

  <geometry>
    <mesh filename="package://a1_rw/meshes/hip.dae" scale="1 1 1"/>
  </geometry>

我想使用 urdfpy 来解析这个 URDF。但是，它无法解释“package://”的含义。

import os
from urdfpy import URDF

a1_rw = {
    "model": "a1",
    "csvpath": "a1_rw/urdf/a1_rw.csv",
    "urdfpath": "a1_rw/urdf/a1_rw.urdf"
}

model = a1_rw
curdir = os.getcwd()
path_parent = os.path.dirname(curdir)
print("path parent = ", path_parent)
model_path = model["urdfpath"]
robot = URDF.load(os.path.join(path_parent, model_path))

这是错误消息：

$ python3.8 calc_parallax.py
path parent =  /home/ben/Documents/git_workspace/a1_test
Traceback (most recent call last):
  File "calc_parallax.py", line 18, in <module>
    robot = URDF.load(os.path.join(path_parent, model_path))
  File "/home/ben/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 3729, in load
    return …